pc6-sv / robot_devkit

Updated ROS2 based Intel Robot Development Kit

Intel Robot DevKit

1. Introduction

Intel Robot DevKit is the tool to generate Robotics Software Development Kit (RDK) designed for autonomous devices, including the ROS2 core and capacibilities packages like perception, planning, control driver etc. It provides flexible build/runtime configurations to meet different autonomous requirement on top of diversity hardware choices, for example use different hareware engine CPU/GPU/VPU to accelerate AI related features.

After build, the RDK is installed on Ubuntu18.04 with below items on development machine for further development.

• ROS2 core
• ROS2 Object Analytics(OA) with RealSense(RS) camera
• ROS2 OpenVINO for people detection
• Gazebo 9 with Gazebo-ros2 simulator
• ROS2 navigation
• rviz2
• ROS2 tutorial for Intel components

Hardware Requirements

• x86 CPU
• Intel RealSense D400 Series
• Intel RealSense T265

System Requirements

• We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit. We not support Mac OS X and Windows.

2. Installation Steps

Packages

Navigate to an empty directory which you intend to use as a workspace and run:

mkdir src
cd src
git clone https://github.com/PC6-SV/robot_devkit.git
cd robot_devkit
./rdk_install.sh

Running

To run, go to workspace directory and execute:

source /opt/ros/dashing/setup.bash
. ./install/local_setup.bash
. ./src/robot_devkit/ros2_ws/install/local_setup.bash
. ./src/robot_devkit/rdk_ws/perception_ws/install/local_setup.bash
export ROS_DOMAIN_ID=120      # Anything that communicates to this should have the same ID*
ros2 launch realsense2_nav autonomy_launch.py

#*e.g. robomaster dockerfile