Visible to Intel only — GUID: GUID-BAEA0E5C-786A-415A-B4B5-C7D1C1612D6D
Run a ROS 2 Sample Application in the Docker* Container
Run an Intel® RealSense™ ROS 2 Sample Application in Docker* Container
Run a GStreamer* Video Pipeline using GStreamer* Plugins in Docker* Container
Run a GStreamer* Audio Pipeline using GStreamer* Plugins in Docker* Container
Run a GStreamer* Video Pipeline using libv4l2 in Docker* Container
Run a GStreamer* Video Pipeline using the Intel® RealSense™ Plugin in the Docker* Container
Optional (Only for Sony* IMX390 Setups): Run a GStreamer* Video Pipeline using Sony’s IMX390 MIPI Sensor in Docker* Container
Run OpenVINO™ Sample Applications in Docker* Container
Run ROS 2 OpenVINO™ Toolkit Sample Applications in Docker* Container
Run Intel® oneAPI Base Toolkit Sample Applications in Docker* Container
Run Profiling Application in Docker* Container with VTune™ Profiler
Run OpenVINO™ Benchmarking Tool
Run the ADBSCAN Algorithm
Launch Wandering Application with Gazebo* Simulation
Run the Sample Application
Troubleshooting
Launch Wandering Application on AAEON* Robot Kit
Launch Cartographer with 2D LIDAR
Run FastMapping Algorithm
Run ROS 2 Navigation Sample Applications Using the ITS Path Planner Plugin in a Docker* Container
ITS Path Planner Plugin Customization
Run the Edge Insights for Autonomous Mobile Robots Container in KVM Guest
Run a Collaborative SLAM System
Build New and Custom Docker* Images from the Edge Insights for Autonomous Mobile Robots SDK
Troubleshooting for Robot Tutorials
Visible to Intel only — GUID: GUID-BAEA0E5C-786A-415A-B4B5-C7D1C1612D6D
Launch Wandering Application with Gazebo* Simulation
This tutorial tells you how to use an industrial simulation room model (the OSRF GEAR workcell that was used for the 2018 ARIAC competition) with objects and a wafflebot3 robot for simulation in Gazebo*. The industrial room includes: shelves, conveyor belts, pallets, boxes, robots, stairs, ground lane markers, and a tiled boundary wall.
Run the Sample Application
If your system has an Intel® GPU, follow the steps in the Get Started Guide for Robots to enable the GPU for simulation. This step improves Gazebo* simulation performance.
Go to the AMR_containers folder:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
Prepare environment setup:
source 01_docker_sdk_env/docker_compose/05_tutorials/config/docker_compose.source export CONTAINER_BASE_PATH=`pwd` export ROS_DOMAIN_ID=32
Run the command below to start the Docker container:
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/wandering_gazebo_ariac.demo.yml up
Expected output:
The robot starts wandering inside the simulation. See the simulation snapshots from different angles:
To increase performance, the real time update rate can be set to 0:
On Gazebo, in the left panel, go to the World Tab and click on Physics.
Change the real time update rate to 0.
To close this, do one of the following:
Type Ctrl-c in the terminal where you did the up command.
Run this command in another terminal:
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/wandering_gazebo_ariac.demo.yml down
Troubleshooting
If the robot is not moving but Gazebo* is started, start the Wandering application manually by opening a container shell and entering:
docker-compose -f 01_docker_sdk_env/docker_compose/01_amr/amr-sdk.all.yml run wandering bash ros2 run wandering_app wandering
For general robot issues, go to: Troubleshooting for Robot Tutorials.