This tutorial details the steps to install Wandering Application with Intel® RealSense™ camera input and create a map using RTAB-Map Application.
- Prepare the target system
- Setup the Robotics AI Dev Kit APT Repositories
- Install OpenVINO™ Packages
- Install Robotics AI Dev Kit Deb packages
- Install the Intel® NPU Driver on Intel® Core™ Ultra Processors (if applicable)
Install the ros-<distro>-wandering-aaeon-tutorial Deb package from the
Intel® Robotics AI Dev Kit APT repository, where <distro> is your ROS
distribution (humble or jazzy).
For ROS 2 Humble:
sudo apt update sudo apt install ros-humble-wandering-aaeon-tutorial
For ROS 2 Jazzy:
sudo apt update sudo apt install ros-jazzy-wandering-aaeon-tutorial
Run the following commands to create a map using RTAB-Map and Wandering Application tutorial on the Aaeon robot.
For ROS 2 Humble:
source /opt/ros/humble/setup.bash ros2 launch wandering_aaeon_tutorial wandering_aaeon.launch.py
For ROS 2 Jazzy:
source /opt/ros/jazzy/setup.bash ros2 launch wandering_aaeon_tutorial wandering_aaeon.launch.py
The launch file automatically detects your ROS distribution and loads the appropriate configuration files, behavior trees, and navigation parameters optimized for that version.
Once the command is executed, the robot starts moving and creates a map with RTAB-Map Application.
This package supports both ROS 2 Humble and ROS 2 Jazzy distributions. The launch system automatically detects the active ROS distribution and selects the appropriate configuration files:
- Behavior Trees: Distribution-specific behavior tree XML files are used to account for API differences between Nav2 versions
- Navigation Parameters: Optimized parameters for each ROS distribution's Nav2 stack
- Launch Files: Automatically configured based on the
ROS_DISTROenvironment variable
- You can stop the demo anytime by pressing
ctrl-C.