Documentation

  • 2021.2
  • 06/30/2021
  • Public Content

Run an ROS2 Sample Application in Docker* Container

Run the Sample Application

  1. Go to the
    AMR_containers
    folder and give permissions to run the interactive Docker script:
    cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
    Where the
    <version>
    string is similar to:
    2021.2
    as shown below:
    cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_2021.2/AMR_containers chmod 755 run_interactive_docker.sh
  2. Run a ROS2 sample application inside the
    EI for AMR
    Docker container.
    Run the command below to start the Docker container:
    ./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:<TAG>
    Where the
    <TAG>
    string is similar to:
    2021.2
    as shown below:
    ./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:2021.2
    When Docker opens successfully, you should see the below messages.
  3. Run the turtlesim ROS2 sample application:
    ros2 run turtlesim turtlesim_node & ros2 topic list
    As a result, the turtlesim app is opened. The console output contains the available topics for the turtle:
    /turtle1/cmd_vel /turtle1/color_sensor /turtle1/pose
  4. Run the rqt application and control the turtle via rqt.
    rqt & ros2 run turtlesim turtlesim_node &
  5. Go to
    Plugins > Services > Service Caller
    : Choose to move turtle1 by choosing (from the Service drop-down list ): /turtle1/teleport_absolute and make sure you changed x and y coordinates for the original values. Press
    Call
    . Turtle should have moved. Close the service caller window by pressing the "
    x
    " button. Then press
    CTRL+C
    .

Summary and Next Steps

In this tutorial, you learned how to run a ROS2 sample application inside the AMR Docker container, start the rqt application, and control the turtle using rqt.

Product and Performance Information

1

Performance varies by use, configuration and other factors. Learn more at www.Intel.com/PerformanceIndex.