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Version: 2.2
Intel® Robotics SDK
Release Notes
Getting Started Guide
Requirements
Knowledge/Experience
Target System
Prepare the Target System
Install Ubuntu* 22.04 LTS (Jammy Jellyfish)
Steps to Install Ubuntu*
Verify that the appropriate Linux kernel is installed
Install ROS 2 Humble
ROS 2 Installation Overview
Prepare your ROS 2 Environment
Setup a permanent ROS 2 environment
Important Notes
Get Access to the Intel® Robotics SDK
Register on Intel® Edge Software Hub
Access the Instructions to setup the APT Repositories
Setup APT Repositories
Install OpenVINO™ Packages
Add the OpenVINO™ APT repository
Install the OpenVINO™ Runtime and the ROS 2 OpenVINO™ Toolkit
OpenVINO™ Re-Installation and Troubleshooting
Install Intel® Robotics SDK Deb packages
Install the Intel® NPU Driver on Intel® Core™ Ultra Processors
Installation Troubleshooting
Developer Guide
How it Works
Modules and Services
Robotics SDK Drivers
Tools
ROS 2 Tools
Simulation Tools
Other Tools
Robotics SDK Applications
Robotics SDK Algorithms
Open Model Zoo for OpenVINO™
ADBSCAN
3D Pointcloud Groundfloor Segmentation
Point Cloud Library (PCL)
ROS 2 Depth Image to Laser Scan
IMU Tools
FastMapping
Collaborative Visual SLAM
ROS 2 Cartographer
SLAM Toolbox
ITS Global Path Planner
Kudan Visual SLAM
Robot Localization
Navigation 2
Robotics SDK Middleware
Recommended Hardware
Target System
Tutorials
Robot Kits
Create Your Own Robot Kit
Requirements
Hardware Requirements
Software Requirements
Steps To Create Your Own Robot Kit
Step 1: Prerequisites
Step 2: Integration into Intel® Robotics SDK
Step 3: Robot Base Node ROS 2 Node
Introduction to Robotic Base Node
Robotic Base Node Deep Dive
Step 4: Robot Base Node ROS 2 Navigation Parameter File
Introduction to the ROS 2 Navigation Parameter File
Robot Navigation Parameter File
Step 5: Navigation Full Stack
Introduction to the Navigation Full Stack
Create a Parameter File for Your Robotic Kit
Start Mapping an Area with Your Robot
Troubleshooting
Clearpath Robotics Jackal™ Robot
Install the Intel® Robotics SDK on the Jackal™ Onboard Computer
Install ROS 2 Humble and the Intel® Robotics SDK
Install the Clearpath Robotics Software Packages
Create Your Robot Configuration
Identify the Serial Number of your Intel® RealSense™ Camera
Create your Robot YAML File
Add your Intel® RealSense™ D435i Camera to the Robot YAML File
Verify the Robot Configuration
Verify the Frames of the TF2 Tree
Verify the ROS 2 Topics
Jackal™ Troubleshooting
References
Control the Jackal™ Motors Using a Keyboard
Execute the Wandering Application on the Jackal™ Robot
Installation and Execution
Jackal™-Specific Adaptations
Adaptation of the Camera Namespace
Adaptation of the depthimage_to_laserscan Node
Adaptation of the imu_filter_madgwick Node
Adaptation of the rgbd_sync Node
Adaptation of the rtabmap Node
Follow-me with ADBSCAN on Clearpath Robotics Jackal™ Robot
Getting Started
Install the Deb package
Run Demo
Troubleshooting
Follow-me with ADBSCAN and Gesture-based Control on Clearpath Robotics Jackal™ Robot
Getting Started
Install the Deb package
Install Python Modules
Identify serial number of Realsense Camera
Run Demo with Intel® RealSense™ Camera
Troubleshooting
iRobot® Create® 3
iRobot® Create® 3 hardware extensions
iRobot® Create® 3 software configuration
Wired (Ethernet) network
NTP server
ROS 2 Middleware (RMW) Configuration & Fast DDS discovery server
Robot namespace
iRobot® Create® 3 Wandering tutorial
Intel® board connected to iRobot® Create® 3
AAEON Robotic Kits
Using the AAEON kit with the latest Intel® Robotics SDK
Intel® Robotics SDK Tutorials based on the AAEON Robotic kits
Wandering Application on AAEON robot with Intel® RealSense™ Camera and RTAB-Map SLAM
Getting Started
Install Deb package
Run Demo
Troubleshooting
ADBSCAN on AAEON Robot Kit
Run the ADBSCAN Algorithm Using the AAEON Robot Kit
Gamepad Robot Control Method
Keyboard Robot Control Method
Expected Results
Troubleshooting
Follow-me with ADBSCAN on Aaeon Robot
Getting Started
Install the Deb package
Run Demo
Troubleshooting
Follow-me with ADBSCAN and Gesture-based Control on Aaeon Robot
Getting Started
Install the Deb package
Install Python Modules
Identify serial number of Realsense Camera
Run Demo with Intel® RealSense™ Camera
Troubleshooting
Legacy documentation
Robot Teleop Using a Keyboard
Hardware Prerequisites
Example for the AAEON UP Xtreme* i11 Robotic Development Kit
Troubleshooting
Perception
Intel® RealSense™ ROS 2 Sample Application
Using Intel® RealSense™ USB camera
Using Intel® RealSense™ Depth Camera D457 on an Axiomtek Robox500 ROS2 AMR Controller
Axiomtek Robox500 ROS2 AMR Controller Setup
BIOS settings
Install
librealsense2
and
realsense2
tools
Install
intel-ipu6
(
intel-ipu6-dkms
) driver
Add the user to the
video
and
render
group
Install and run the Intel® RealSense™ ROS 2 sample application
3D Pointcloud Groundfloor Segmentation for Intel® RealSense™ Camera and 3D LiDAR
Getting Started
Install Deb package
Run the Segmentation with Intel® RealSense™ Camera Input
Run the Segmentation with a 3D LiDAR sensor
Run the Segmentation Algorithm with the Teleop Application
Adjusting Application Parameters
Requirements
Troubleshooting
Point Cloud Library (PCL) Optimized for the Intel® oneAPI Base Toolkit
Overview and Installation
Overview
Supported Hardware
Supported Operating System
PCL oneAPI™ Installation
Runtime Device Selection
JIT Limitation
Spatial Partitioning and Search Operations with Octrees
Code Explanation
Identifying Models and Extracting Parameters in 3D Point Clouds
Code Explanation
Plane Model Segmentation
Code Explanation
Surface Reconstruction with oneAPI™ Moving Least Squares (MLS)
Code Explanation
Intel® oneAPI Base Toolkit's Iterative Closest Point (ICP)
Iterative Closest Point
Code Explanation
Performing KdTree Search using oneAPI KdTree FLANN
Code Explanation
Downsampling 3D Point Clouds with a Voxelized Grid
Code Explanation
Filtering Point Clouds with a Passthrough Filter
Code Explanation
Fast Triangulation of Unordered Point Clouds (OpenMP Version)
Background: Algorithm and Parameters
Code Explanation
Estimating Surface Normals in a PointCloud
Code Explanation
Removing Outliers Using a StatisticalOutlierRemoval Filter
Code Explanation
Using SampleConsensusInitialAligment (SCIA) to Initial Align Two Point Clouds
Code Explanation
Optimized PCL Limitation and Troubleshooting
Limitation
Troubleshooting
GPU ORB Extractor
GPU ORB Extractor Feature Overview
System Requirements
Hardware Requirements
Deb packages
Install Deb packages
Tutorial to Use GPU ORB Extractor Feature
Code Explanation
Using GPU ORB Extractor Feature with OpenCV-free Library.
Code Explanation
GPU ORB Extractor Feature Limitation
Troubleshooting
OpenVINO™
OpenVINO™ Tutorial with Segmentation
Install OpenVINO™ tutorial packages
Run Demo with Intel® RealSense™ Topic Input
Troubleshooting
OpenVINO™ Object Detection Tutorial
Install OpenVINO™ tutorial packages
Run Demo with Image Input
Expected Output
Troubleshooting
OpenVINO™ Tutorial on Multi-camera Object Detection using Intel® RealSense™ Depth Camera D457
Axiomtek Robox500 ROS2 AMR Controller Setup
Install GPU driver
Install
librealsense2
and
realsense2
tools
Configure the Intel® GMSL Serializer-Deserializer ACPI devices and install
intel-ipu6-dkms
Dynamic Kernel Module Support package
Install and run multi-camera object detection tutorial using the Intel® RealSense™ Depth Camera D457
Install
Run the tutorial
Troubleshooting and workarounds
OpenVINO™ Yolov8 Tutorial
Getting Started
Install OpenVINO™ package
Install Python packages (optional)
Install Deb package
Run Demo with Intel® RealSense™ Topic Input
Advanced usage
Other considerations
Navigation
Collaborative Visual SLAM
Collaborative Visual SLAM Versions Available
Select a Collaborative Visual SLAM Tutorial to Run
Collaborative Visual SLAM with Two Robots
Collaborative Visual SLAM with FastMapping Enabled
Collaborative Visual SLAM with Multi-Camera Feature
Collaborative Visual SLAM with 2D Lidar Enabled
Collaborative Visual SLAM with Region-wise Remapping Feature
Collaborative Visual SLAM with GPU Offloading
Troubleshooting
Kudan Visual SLAM
Introduction
Install the Kudan Visual SLAM Package and Tutorials
Install the Kudan Visual SLAM Core Package
Install the tutorial with pre-recorded ROS 2 bags
Install the tutorial with Kudan Visual SLAM, AAEON robotic kit, and Intel® RealSense™ camera
Execute the Tutorials
Tutorial with pre-recorded ROS 2 bags from an RGBD camera
Tutorial with pre-recorded ROS 2 bags from a stereo camera
Tutorial with direct input of pre-recorded ROS 2 bags
Tutorial with Kudan Visual SLAM, AAEON robotic kit, and Intel® RealSense™ camera
Troubleshooting
Running Kudan Visual SLAM in a containerized environment
L0 error 78000001 in a native environment
Issues with the Kudan license manager
Issues with accessing the AAEON robotic kit
Tracking is occasionally lost
General issues
FastMapping Algorithm
Run the FastMapping Standalone Application
Troubleshooting
ADBSCAN Algorithm
ADBSCAN Tutorials
ADBSCAN Algorithm with RPLIDAR Input Demo
Install
Run the demo with 2D LIDAR
ADBSCAN Algorithm with Intel® RealSense™ Camera Input Demo
Install
Run the demo with Intel® RealSense™
ADBSCAN on AAEON Robot Kit
Run the ADBSCAN Algorithm Using the AAEON Robot Kit
Gamepad Robot Control Method
Keyboard Robot Control Method
Expected Results
Troubleshooting
ADBSCAN Optimization
Intel-optimized ADBSCAN Algorithm
Getting Started
Install and run the ROS 2 bag file Deb package
Install and run optimized Deb package
Install and run standard (unoptimized) Deb package
Re-configurable parameters
Troubleshooting
Troubleshooting
Follow-me Algorithm
Simulation Demos
Follow-me with ADBSCAN and Gesture Control
Getting Started
Install the Deb package
Install Python Modules
Run Demo with 2D Lidar
Run Demo with Intel® RealSense™ Camera
Troubleshooting
Follow-me with ADBSCAN, Gesture and Audio Control
Getting Started
Install the Deb packages
Install Pre-requisite Libraries
Run Demo with 2D Lidar
Run Demo with Intel® RealSense™ Camera
Troubleshooting
Tutorials
Follow-me with ADBSCAN on Aaeon Robot
Getting Started
Install the Deb package
Run Demo
Troubleshooting
Follow-me with ADBSCAN and Gesture-based Control on Aaeon Robot
Getting Started
Install the Deb package
Install Python Modules
Identify serial number of Realsense Camera
Run Demo with Intel® RealSense™ Camera
Troubleshooting
Follow-me with ADBSCAN on Clearpath Robotics Jackal™ Robot
Getting Started
Install the Deb package
Run Demo
Troubleshooting
Follow-me with ADBSCAN and Gesture-based Control on Clearpath Robotics Jackal™ Robot
Getting Started
Install the Deb package
Install Python Modules
Identify serial number of Realsense Camera
Run Demo with Intel® RealSense™ Camera
Troubleshooting
ITS Path Planner ROS 2 Navigation Plugin
Getting Started
Install Deb package
ITS Path Planner Plugin Customization
ITS Path Planner Plugin Parameters
Troubleshooting
Robot Re-localization Package for ROS 2 Navigation
Getting Started
Install Deb package
Run the Re-localization
Troubleshooting
Wandering App
Wandering Application on AAEON robot with Intel® RealSense™ Camera and RTAB-Map SLAM
Getting Started
Install Deb package
Run Demo
Troubleshooting
Execute the Wandering Application on the Jackal™ Robot
Installation and Execution
Jackal™-Specific Adaptations
Adaptation of the Camera Namespace
Adaptation of the depthimage_to_laserscan Node
Adaptation of the imu_filter_madgwick Node
Adaptation of the rgbd_sync Node
Adaptation of the rtabmap Node
Simulation
Turtlesim ROS 2 Sample Application
Run the Turtlesim ROS 2 Sample application
Wandering Application in a Waffle Gazebo* Simulation
Run the Sample Application
Troubleshooting
Gazebo Pick & Place Demo
Getting Started
Install Debian Package
Run Demo
Overview
Other Details
Launch Sequence
Sending Nav2 Pose to AMR
Reusing ARM and AMR modules
Troubleshooting
Troubleshooting for Robotics SDK Tutorials
Use
ROS_DOMAIN_ID
to Avoid Interference in ROS Messages
Troubleshooting AAEON Motor Control Board Issues
Add the current user to the
dialout
group
Solve conflicts with the BRLTTY daemon
Enable 3D options in RViz2
Troubleshooting OpenVINO™ Issues
File Permission Errors
Missing Model files
GPU device is not detected with Linux* Kernel 6.7.5 or later
System Integrators
Intel® Edge Software Device Qualification (Intel® ESDQ) for Robotics SDK
Overview
How It Works
Get Started
Prerequisites
Download and Install Intel® ESDQ for Robotics SDK
Download and Install Intel® ESDQ CLI
Download and Install the Test Modules
Run the Self-Certification Application for Compute Systems
Run the Self-Certification Application for RGB Cameras
Run the Self-Certification Application for Depth Cameras
Send Results to Intel®
Troubleshooting
Support Forum
Benchmarking and Profiling
OpenVINO™ Benchmarking Tool
Intel® VTune™ Profiler for CPU and GPU profiling
Overview
Installation of Intel® VTune™ Profiler
Additional System Setup for CPU and GPU Profiling
Profiling an Application from Intel® Robotics SDK
CPU Profiling
CPU Hotspots Analysis
Steps to run CPU Hotspots Analysis
Analysis of the CPU Hotspots Results
Top Hotspots and the Top Tasks
Effective CPU Utilization Histogram
Additional Insights
CPU Microarchitecture Exploration
Steps to run CPU Microarchitecture Exploration
Analysis of the CPU Microarchitecture Exploration results
P-core and E-core execution summary
CPU Bandwidth utilization
Benchtool
When to use it over
ros2
topic
hz
?
Installation
Configuration
Usage
Advanced usage - Prometheus + Grafana
Optimize Performance
Security
Shim Layer - Protect your application data
Intel® Robotics SDK Platform
Security Use Cases and Features
Terminology
Notices and Disclaimers
Home
Home
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Robotics SDK Documentation
v: 2.2
Document Versions
2.2
2.1
2.0