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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
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
Permission Denied Error
DISPLAY Environment Variable Error
Use ROS_DOMAIN_ID to Avoid Interference in ROS Messages
System HOME Directory Issues
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Troubleshooting for Robot Tutorials
This guide lists common troubleshooting tips for robot tutorials.
Permission Denied Error
For a permission denied error when running a script:
$ ./run_interactive_docker.sh eiforamr-full-flavour-sdk:<TAG> eiforamr bash: ./run_interactive_docker.sh Permission denied
Give executable permission to the script:
chmod 755 run_interactive_docker.sh
DISPLAY Environment Variable Error
For errors related to the DISPLAY environment variable when trying to open the Docker container or a GUI application, enter the command:
echo $DISPLAY
If this variable is empty, it will cause issues when opening applications that need GUI.
The most common solution is to give it the 0:0 value:
export DISPLAY= "0:0"
If the connection with the system is via VNC, DISPLAY should be already set.
If it is not, find out the value of DISPLAY set by vncserver and then set the correct value:
For example:
ps ax |grep vncserver /usr/bin/Xtigervnc :42 -desktop .... /usr/bin/perl /usr/bin/vncserver -localhost no -geometry 1920x1000 -depth 24 :42 export DISPLAY= ":42"
Use ROS_DOMAIN_ID to Avoid Interference in ROS Messages
A typical method to demonstrate a use case requires you to start a container (or group of containers) and exchange ROS messages between various ROS nodes. However, interference from other ROS nodes can disrupt the whole process. For example, you might receive ROS messages from unknown nodes that are not intended for the demo use case. These other nodes could be on the same host machine or on other host machines within the local network. In this scenario, it can be difficult to debug and resolve the interference.
You can avoid this by declaring ROS_DOMAIN_ID as a fixed numeric value per use case, under the following conditions:
The ROS_DOMAIN_ID should be same for all containers launched for a particular use case.
The ROS_DOMAIN_ID should be an integer between 0 and 101.
After launching the container, you can declare it with:
export ROS_DOMAIN_ID=<value>
For more information, go to: ROS_DOMAIN_ID
To add the ROS_DOMAIN_ID, you can choose any of the below options.
Add it in the common.yml file for all containers:
# In file 01_docker_sdk_env/docker_compose/common/common.yml # ROS_DOMAIN_ID can be added that applies to all use cases services: common: environment: ROS_DOMAIN_ID: <choose ID>
Add it in the .env file for all containers:
# In file 01_docker_sdk_env/docker_compose/01_amr/.env # add below line and provide ROS_DOMAIN_ID ROS_DOMAIN_ID=<choose ID>
Add it in the specific yml file for a specific use case for specific targets:
# In the below example, ROS_DOMAIN_ID is added in ros-base target # For any use case where this target is used, the ROS_DOMAIN_ID will be set to the given value. services: ros-base: image: ${REPO_URL}amr-ubuntu2004-ros2-foxy-ros-base:${DOCKER_TAG:-latest} container_name: ${CONTAINER_NAME_PREFIX:-amr-sdk-}ros-base environment: ROS_DOMAIN_ID: <choose ID> env_file: - ./.env extends:Add it in the specific yml file in the command: section and apply only after launching the containers:
# In file 01_docker_sdk_env/docker_compose/05_tutorials/fleet_mngmnt_with_low_battery.up.tutorial.yml # In the below example, ROS_DOMAIN_ID is set to 58 # You may change it to any new value as per use case requirement. services: battery_bridge: image: ${REPO_URL}amr-ubuntu2004-ros2-foxy-battery_bridge:${DOCKER_TAG:-latest} container_name: ${CONTAINER_NAME_PREFIX:-amr-sdk-}battery_bridge extends: file: ../01_amr/amr-sdk.all.yml service: ros-base volumes: - /dev/battery_bridge:/dev/battery_bridge:rw build: target: battery_bridge network_mode: host restart: "no" command: - | source ros_entrypoint.sh source battery-bridge/src/prebuilt_battery_bridge/local_setup.bash export ROS_DOMAIN_ID=58 sleep 5 ros2 run battery_pkg battery_bridgeAdd it while running a container using the run_interactive_docker.sh script:
# by adding env parameter, ROS_DOMAIN_ID can be exported inside container: ./run_interactive_docker.sh <image name> <user> --extra_params "-e ROS_DOMAIN_ID=<choose ID>"
NOTE:You can use any number between 0 and 101 (inclusive), to set ROS_DOMAIN_ID, as long as it is not used by a different ROS system.
Be aware that you can also use these options to modify other environment variables.
System HOME Directory Issues
If your test system uses $HOME mounted in remote volumes, for example, in a network file system (NFS), you may encounter the error below when you try to run a Docker* image using the ./run_interactive_docker.sh script:
docker: Error response from daemon: error while creating mount source path '/nfs/site/home/<user>': mkdir /nfs/site/home/<user>: file exists.
To avoid this, before you run a Docker* image, create a new directory in /tmp (or any locally mounted volume), and set $HOME to the new path:
mkdir /tmp/tmp_home export HOME=/tmp/tmp_home ./run_interactive_docker.sh eiforamr-full-flavour-sdk:<release_tag> eiforamr