Documentation

  • 2021.2
  • 06/30/2021
  • Public Content

Run FastMapping Algorithm

Run the Sample Application

  1. Go to the
    AMR_containers
    folder:
    cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
  2. Run the command below to start the Docker container:
    ./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:<TAG>
  3. Run the following script in the Docker container (Instance 1):
    source /opt/ros/foxy/setup.bash
  4. Open 2 foxy container instances:
    docker ps # -> repeat the below step for every instance docker exec -it <container_id> /bin/bash
    1. Instance 2: Run ROS2 bag file:
      source /opt/ros/foxy/setup.bash cd /workspace/FastMapping/src/tests/ros2 # -loop option is for running in loop the bag ros2 bag play -loop ros2bag
    2. Instance 3: Run FM node with ROS2:
      source /opt/ros/foxy/setup.bash cd /workspace/FastMapping/src source prebuilt_fastmapping/local_setup.bash ros2 run fast_mapping fast_mapping_node
    3. Instance 1: Run rviz2:
      rviz2
  5. Check the rviz2 output (rviz2 was opened in step 5.c):
    Be sure to add in rviz2 the
    MarkerArray
    (from world/fused_map) and
    Map
    (from Map) using the
    Add
    button and
    By Topic
    tab.

Summary and Next Steps

In this tutorial, you learned how to run the FastMapping algorithm.

Product and Performance Information

1

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