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UPS 6000 and UP Xtreme i11 Robot Kits
Create Your Own Robot Kit
Perception
Navigation
Simulation
Benchmarking and Profiling
EI for AMR Container on a Virtual Machine
Fibocom’s FM350 5G Module Integration
Change Existing and Add New Docker* Images to the EI for AMR SDK
Troubleshooting for Robot Tutorials
Spatial Partitioning and Search Operations with Octrees
Constructing a Convex Hull Polygon for a 3D Point Cloud
Detecting Specific Models and Their Parameters in 3D Point Clouds
Plane Model Segmentation
Surface Reconstruction with Intel® oneAPI Base Toolkit's Moving Least Squares (MLS)
Intel® oneAPI Base Toolkit's Iterative Closest Point (ICP)
KdTree Search Using Intel® oneAPI Base Toolkit's KdTree FLANN
Downsampling 3D Point Clouds with a Voxelized Grid
Filtering Point Clouds with a Passthrough Filter
PCL Optimizations Outside of Docker* Images
Optimized PCL Known Limitation
Optimized PCL Troubleshooting
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Robot Teleop Using a Keyboard
Hardware Prerequisites
You have a robot and a keyboard or an ssh/vnc connection to the robot.
This example uses the UP Xtreme i11 Robotic Kit.
Connect to your robot via ssh/vnc or direct access. If you choose direct access, insert a monitor and a keyboard into the robot’s compute system.
Start your robot’s node, and make sure that you have the correct remapping similar to this:
cd <edge_insights_for_amr_path>Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers/ chmod a+x run_interactive_docker.sh ./run_interactive_docker.sh amr-aaeon-amr-interface:2022.3 eiforamr -c aaeon_node source /home/eiforamr/workspace/ros_entrypoint.sh export ROS_DOMAIN_ID=167 ros2 run ros2_amr_interface amr_interface_node --ros-args -p try_reconnect:=true -p timeout_connection:=1000.0 -p publishTF:=true --remap /amr/cmd_vel:=/cmd_vel -p port_name:=/dev/ttyUSB0
In another terminal, open full-sdk, and start teleop_twist_keyboard:
NOTE:The full-sdk docker image is only present in the Robot Complete Kit, not in the Robot Base Kit or Up Xtreeme i11 Robotic Kit.To check if you have it:
docker images |egrep "eiforamr-full-flavour-sdk" #if you have it downloaded, the result is: eiforamr-full-flavour-sdk
NOTE:If the image is not installed, continuing with these steps triggers a build that takes longer than an hour (sometimes, a lot longer depending on the system resources and internet connection).cd <edge_insights_for_amr_path>Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers/ source ./01_docker_sdk_env/docker_compose/common/docker_compose.source export CONTAINER_BASE_PATH=`pwd` CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/01_amr/amr-sdk.all.yml run full-sdk bash source /home/eiforamr/workspace/ros_entrypoint.sh export ROS_DOMAIN_ID=167 ros2 run teleop_twist_keyboard teleop_twist_keyboard
Expected result: The robot responds to your keyboard commands in these ways:
i: Move forward
k: Stop
,: Move backward
j: Turn right
l: Turn left
q/z: Increase/decrease max speeds by 10%
w/x: Increase/decrease only linear speed by 10%
e/c: Increase/decrease only angular speed by 10%
L or J (only for omnidirectional robots): Strafe (move sideways)
anything else: Stop
Ctrl-c: Quit
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