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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
Step 1: Hardware Assembly
Step 2: Integration into Edge Insights for Autonomous Mobile Robots
Step 3: Robot Base Node ROS 2 Node
Step 4: Robot Base Node ROS 2 Navigation Parameter File
Introduction to the ROS 2 Navigation Parameter File
The Navigation Parameter File as it Applies to Robots
Create a Navigation Parameter File for Your Robotic Kit
Step 5: Navigation Full Stack
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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Step 4: Robot Base Node ROS 2 Navigation Parameter File
Introduction to the ROS 2 Navigation Parameter File
The Edge Insights for Autonomous Mobile Robots pipeline for AMRs uses the Navigation 2 package from ROS 2.
The Navigation 2 package requires several parameters specific to the robot and the area it is mapping to be set.
In Edge Insights for Autonomous Mobile Robots there are two examples:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers ls 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/aaeon_nav.param.yaml 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/pengo_nav.param.yaml
One is for AAEON’s UP Xtreme i11 Robotic Kit, and the other is for Cogniteam’s Pengo robot.
The Navigation Parameter File as it Applies to Robots
To help understand the options in this parameter file, see ROS 2 Navigation 2 packages:
There are a lot of parameters to set, and Intel recommends reading this Navigation 2 documentation to get the better picture.
You can also compare the two nav.param.yaml files that are in Edge Insights for Autonomous Mobile Robots to understand which parameters are different from robot to robot:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers meld 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/aaeon_nav.param.yaml 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/pengo_nav.param.yaml
The most important parameters to set are:
use_sim_time:
Ignore all differences. It is used in simulations. Set it to False when running in a real environment.
base_frame_id: robot frame ID being published by the robot base node
The default is base_footprint, but base_link is another option. Use the one you choose to publish in the robot base node.
robot_model_type: robot type
The options are omnidirectional, differential, or a custom motion model that you provide.
tf_broadcast: turns transform broadcast on or off
Set this to False to prevent amcl from publishing the transform between the global frame and the odometry frame.
odom_topic: source of instantaneous speed measurement
max_vel_x, max_vel_theta: maximum speed on the X axis or angular (theta)
robot_radius: radius of the robot
inflation_radius: radius to inflate costmap around lethal obstacles
min_obstacle_height: minimum height to add return to occupancy grid
max_obstacle_height: maximum height to add return to occupancy grid
obstacle_range: determines the maximum range sensor reading that results in an obstacle being put into the costmap
max_rotational_vel, min_rotational_vel, rotational_acc_lim: configure the rotational velocity allowed for the base in radians/second
Create a Navigation Parameter File for Your Robotic Kit
To create a navigation parameter file for your robotic kit:
cp 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/aaeon_nav.param.yaml 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/generic_robot_nav.param.yaml # Replace generic_robot_nav to a name that makes sense to your robotic kit. # When replacing this make sure that it is also replaced wherever it is also used. # It is used in the general pipeline yaml file that starts all components. gedit 01_docker_sdk_env/artifacts/01_amr/amr_generic/param/generic_robot_nav.param.yaml # you can also use any other preferred editor, it is important though to keep the path. # Make all changes that are specific to your Robotic Kit, see the previous chapter where it was described in details.
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