Intel® Edge Software Device Qualification (Intel® ESDQ) for Robotics SDK¶
Overview¶
Intel® Edge Software Device Qualification (Intel® ESDQ) for Robotics SDK provides customers with the capability to run an Intel® provided test suite at the target system, with the goal of enabling partners to determine their platform’s compatibility with the Robotics SDK.
The target of this self certification suite is the Robotics SDK compute systems. These platforms are the brain of the Robot Kit. They are responsible to get input from sensors, analyze them, and give instructions to the motors and wheels to move the Robotics SDK.
How It Works¶
The Robotics SDK Test Modules interact with the Intel® ESDQ Command Line Interface (CLI) through a common test module interface (TMI) layer which is part of the Intel® ESDQ binary. Intel® ESDQ generates a complete test report in HTML format, along with detailed logs packaged as one zip file, which you can manually choose to email to: edge.software.device.qualification@intel.com. More detailed information is available at Intel® Edge Software Device Qualification (Intel® ESDQ) Overview.
Note
Each test and its pass/fail criteria is described below. To jump to the installation process, go to Download and Install Intel® ESDQ for Robotics SDK.
Intel® ESDQ for Robotics SDK contains the following test modules.
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Get Started¶
This tutorial takes you through the installation and execution of the Intel® ESDQ CLI tool. Configure your target system to satisfy the necessary Prerequisites before you proceed with the Download and Install Intel® ESDQ for Robotics SDK. Execute your self-certification process by selecting from the three available certification types:
Run the Self-Certification Application for Compute Systems for certifying Intel® based compute systems with the Robotics SDK software
Run the Self-Certification Application for RGB Cameras for certifying RGB cameras with the Robotics SDK software
Run the Self-Certification Application for Depth Cameras for certifying depth cameras with the Robotics SDK software
Refer to How It Works for more detailed information about the test modules.
Prerequisites¶
Satisfy the Intel® ESDQ prerequisites by:
Installing the
openvino
Deb package by following the Intel® Distribution of OpenVINO™ toolkit for Linux Using APT Repository instructions.Installing OpenVINO™ Development Tools and specifying
tensorflow
as the extras parameter by following the “Step 4. Install the Package” instructions.Installing the
intel-basekit
Deb package by following the Intel® oneAPI Base Toolkit Installation Guide for Linux* OS instructions.Installing GStreamer* by following the “Install GStreamer on Ubuntu or Debian” instructions.
Installing the pre-built Intel® RealSense™ SDK 2.0 packages by following the Installing the packages instructions.
Installing the ROS 2 Deb packages for using Intel® RealSense™ cameras by following the “Option 1: Install Debian package from ROS servers” of the “Step 3: Install Intel® RealSense™ ROS 2 wrapper” installation instructions.
Configuring your Intel® VTune™ Profiler installation as described in the “Additional System setup for CPU and GPU profiling” section of Intel® VTune™ Profiler for CPU and GPU profiling.
Configuring your target device as described in Kudan Visual SLAM.
Download and Install Intel® ESDQ for Robotics SDK¶
Complete the following two installation steps in order to properly configure your test setup:
Download and Install Intel® ESDQ CLI¶
Download the Intel® ESDQ CLI to your device from here:
edge-software-device-qualification-11.0.0.zip
Set the ESDQ_INSTALLATION
variable to point to the desired installation
location. For example, if you want to install the the Intel® ESDQ CLI under
the ~/esdq
directory, just set the this variable as follows:
Directly from the download directory, unzip the downloaded file into the installation location.
Set the convenient ROBOTICS_SDK
variable that is going to be used
in the next installation steps.
Install the Intel® ESDQ CLI executing the following commands:
Check the successful installation of the Intel® ESDQ CLI verifying that the execution
of the following command prints Version: 11.0.0
on the terminal:
Download and Install the Test Modules¶
To download and install the Intel® Robotics SDK test modules on your target device follow the steps below:
Install the
ros-humble-amr-esdq
Deb package from Intel® Robotics SDK APT repository.The tests are conducted from the directory pointed by the previously set
ROBOTICS_SDK
variable. Copy the installed test suite into the directory.Verify the appropriate permissions for the test modules directory by executing the following command:
Check that the Intel® Robotics SDK test module is correctly installed by verifying that the output of the following command lists the
Robotics_SDK
module.Download the necessary assets required by the test suite.
Run the Self-Certification Application for Compute Systems¶
Use the
groups
command to verify whether the current user belongs to therender
,video
, anddialout
groups. If the user does not belong to these groups, add the group membership by means of:Log out and log in again.
If you have just installed the
ros-humble-amr-esdq
Deb package as described in the Download and Install Intel® ESDQ for Robotics SDK section, reboot your system.Otherwise, there is a possibility that the tests that depend on the GPU ORB Extractor encounter issues accessing the GPU. Further information can be found in the L0 error 78000001 in a native environment section of the Kudan Visual SLAM documentation. If you plan to integrate the Intel® Robotics SDK into a containerized environment, also consider the hints in the Running Kudan Visual SLAM in a containerized environment section.
Make sure that the environment variable
ROBOTICS_SDK
is initialized as shown in Download and Install Intel® ESDQ for Robotics SDK and change the working directory:Run the Intel® ESDQ test, and generate the report:
Visualize the report by opening the
reports/report.html
file in your browser.Expected output (These results are for illustration purposes only.)
Note
All the tests are expected to pass. The Intel® VTune™ Profiler test failure and the Intel® RealSense™ test skip above are shown for demonstration purposes only. For example, the execution of the Intel® RealSense™ test is skipped if no Intel® RealSense™ camera is connected to the target system.
Run the Self-Certification Application for RGB Cameras¶
This self-certification test expects the camera stream to be on the
/camera/color/image_raw
topic. This topic must be visible in rviz2 using
the camera_color_frame fixed frame. If your camera ROS 2 node does not
stream to that topic by default, use ROS 2 remapping to publish to that
topic.
Note
The following steps use the Intel® RealSense™ ROS 2 node as an example. You must change the node to your actual camera ROS 2 node.
You can check your current configuration by:
Running the RGB camera node in a ROS 2 environment after setting the
ROS_DOMAIN_ID
.Verifying the presence of the topic in the topic list.
Once your configuration is set, you can proceed to run the Intel® ESDQ test and generate the report:
Run the Self-Certification Application for Depth Cameras¶
This self-certification test expects the camera stream to be on the
/camera/depth/color/points
and on the /camera/depth/image_rect_raw
topics.
These topics must be visible in rviz2 using the camera_link fixed frame.
If your camera ROS 2 node does not stream to that topic by default, use
ROS 2 remapping to publish to that topic.
Note
The following steps use the Intel® RealSense™ ROS 2 node as an example. You must change the node to your actual camera ROS 2 node.
You can check your current configuration by:
Running the depth camera node in a ROS 2 environment after setting the
ROS_DOMAIN_ID
.Verifying the presence of the topic in the topic list.
Once your configuration is set, you can proceed to run the Intel® ESDQ test and generate the report:
Send Results to Intel®¶
Once the automated and manual tests are executed successfully, you can submit your test results and get your devices listed on the Intel® Edge Software Recommended Hardware site.
Send the zip file that is created after running Intel® ESDQ tests to: edge.software.device.qualification@intel.com.
For example, after one of our local runs the following files were generated in the
$ROBOTICS_SDK/reports/
directory: report.html
and report.zip
.
Troubleshooting¶
For issues, go to: Troubleshooting for Robot Tutorials.
Support Forum¶
If you’re unable to resolve your issues, contact the Support Forum.