How it Works
Modules and Services
- The ROS2 container includes the ROS2 middleware and tools, Intel® RealSense™ SDK and ROS2 wrapper, GStreamer* and build tools, ROS2 packages (Cartographer, Navigation, RTAB_MAP) and the Fast Mapping application (the Intel-optimized version of octomap).
- The OpenVINO container includes the ROS2 container, as well as theOpenVINO™development toolkit, theOpenVINO™DL Gstreamer plugins and the Wandering demonstration application,
- The AMR Full Flavour container includes the OpenVINO container, as well as the Intel® oneAPI Base Toolkit, the DPC++ compatibility tool and profiler, analyzer tools.
- Robot Operating System (ROS) software stack V2 (ROS2) from the open source project (ros.org), able to execute sample ROS2 tutorial applications.
- The Robot Operating System (ROS) is a set of open source software libraries and tools for building robot applications.
- ROS2 depends on other middleware, like the Object Management Group (OMG) Data Distribution Service (DDS) connectivity framework that uses a publish–subscribe pattern.
- 2021.2 supporting heterogeneous execution across an Intel CPU, integrated graphics, Intel® Neural Compute Stick 2 (Intel® NCS2), and Intel® Vision Accelerator Design with Intel® Movidius™ Myriad™ VPUs.
- Intel® oneAPI Base Toolkit, able to execute oneAPI base toolkit sample applications. The Intel® oneAPI Base Toolkit is a core set of tools and libraries for developing high-performance, data-centric applications across diverse architectures. It features an industry-leading C++ compiler and the Data Parallel C++ (DPC++) language, an evolution of C++ for heterogeneous computing.For information about oneAPI training and a presentation of the CUDA converter, refer to:
- RealSense SDK and the RealSense ROS2 Wrapper, able to execute Intel® RealSense™ ROS2 Wrapper sample applications.
- GStreamer* including support for libv4l2 video sources and GStreamer plugins.
- ROS2 Cartographer 2D LIDAR SLAM. A cartographer is a system that provides real-time simultaneous localization and mapping (SLAM), here based on real-time 2D LIDAR sensor data. It is used to generate as-built floor plans or maps.
- ROS2 RealSense VSLAM. Visual Simultaneous Localization and Mapping (vSLAM) can map the location and create a 3D virtual map, based on computer vision.
- ROS2 RealSense FastMapping Algorithm. An additional algorithm to create a map of a robot’s surrounding, based on Intel® RealSense™ video and IMU sensor data.
- ROS2 Navigation. The ROS2 Nav2 Navigation Stack seeks to find a safe way to have a mobile robot move from point A to point B. This will complete dynamic path planning, compute velocities for motors, detect and avoid obstacles, and structure recovery behaviors.
- OpenVINO™ Model Zoo. Optimized deep learning models and a set of demos to expedite development of high-performance deep learning inference applications. You can use these pre-trained models instead of training your own models to speed up the development and production deployment process.
- Fast Mapping. An algorithm on top of ROS (Robotic Operating System) that generates and maintains a volumetric representation of the environment given the depth image input of Intel® RealSense™ camera (e.g. D435i) and the position from a localization algorithm, such as GSlam, RTABMap, vSLAM, etc.
- Wandering AI Application. The RealSense AI Wandering ROS2 sample application demonstrates the combination of the middleware, algorithms, and the ROS2 navigation stack to move a robot around a room avoiding hitting obstacles, updating a local map in real time exposed as ROS topic, and publish AI-based objects detected in another ROS topic. It uses the robot’s sensors and actuators that are available from the robot’s hardware configuration.
- rviz2 to visualize ROS topics.
- ROS rqt is a software framework of ROS that implements the various GUI tools in the form of plugins.
- colcon (collective construction) is a command line tool to improve the workflow of building, testing, and using multiple software packages. It automates the process, handles the ordering, and sets up the environment to use the packages.
- The Gazebo* robot simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. Gazebo offers the ability to simulate populations of robots accurately and efficiently in complex indoor and outdoor environments. A robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces is available at your fingertips.
Central Processing Unit
EI for AMR
Edge Insights for Autonomous Mobile Robots
Graphics Processor Unit
Light Detection and Ranging
Robot Operating System
Software Development Kit
Simultaneous Localization And Mapping
Visual Simultaneous Localization and Mapping