• 2021.2
  • 06/30/2021
  • Public Content

Release Notes

EI for AMR

Fast Mapping Algorithm
  • Added support for ROS2.
Wandering AI Algorithm
  • This is the initial release for the RealSense AI Wandering ROS2 sample application, which is used to demonstrate obstacle avoidance.
AMR Containers
  • The Edge Insights for Autonomous Mobile Robots (EI for AMR) modules are deployed in a containerized structure with three containers:
    • AMR ROS2 FOXY Container that includes the ROS2 middleware and tools, Intel® RealSense™ SDK 2.0 and ROS2 wrapper, GStreamer* and build tools, ROS2 packages (Cartographer, Navigation, RTAB_MAP) and the Fast Mapping app (Intel optimized version of OctoMap).
    • AMR
      Container that includes the
      Intel® Distribution of OpenVINO™ toolkit
      , the
      toolkit DL GStreamer plugins, and the Wandering demonstration application.
    • AMR Full Flavour Container that includes the Intel® oneAPI Base Toolkit, the DPC++ compatibility tool and profiler, and analyzer tools.
  • This is the initial release of
    EI for AMR
    Containers. See Get Started Guide for additional details.

Known Issues/Limitations

  • To compile applications from the container running on the 11th generation Intel® Core™ processor (formerly Tiger Lake Platform), please ensure that you
    do not
    compiler option with GCC. This issue will be fixed in a future
    EI for AMR
Fast Mapping Algorithm
  • Fast Mapping compilation with gcc from the container running on the 11th generation Intel® Core™ processor requires this additional cast in supereight.patch, function void release_all(bool reset_reserved_elements) line 1148:
    -std::memcpy(pages_[p], pages_[0], pagesize_ * sizeof(BlockType)); +std::memcpy((void*)*pages_[p], *(void*)pages_[0], pagesize_ * sizeof(BlockType));
  • FastMapping problems getting Pose from /tf (for example with RTAB_MAP):
    Add a
    return -1
    statement in the
    catch block of
    int FastMappingNode::tryGetPoseFromTf(rclcpp::Time target_time, std::string target_frame, geometry_msgs::msg::PoseStamped &pose) { ... catch (tf2::TransformException &e) { ... return -1; } }
Wandering AI Application
  • The object detection node of the Wandering application cannot load
    models with a path that contains a
    (dot) in it, for example:
  • RTABMAP is not best suited for indoor navigation, therefore it might happen that some obstacles are not detected with the highest accuracy, due to reflections, etc.
  • The object detection node does not filter visualized objects on ROS /camera/detected_objects Topic. This results as the same object reported multiple times.

Release Content

Subproject (component)
AMR Containers
Fast Mapping
Wandering AI Application

Product and Performance Information


Performance varies by use, configuration and other factors. Learn more at