• ROS2 core

• ROS2 Object Analytics(OA) with RealSense™ and Movidius NCS2

• ROS2 OpenVINO for people detection

• Gazebo 9 with Gazebo-ros2 simulator

• ROS2 navigation

• rviz2

• ROS2 tutorial for Intel® components

Robot support

• Turtlebot 3 Waffle

Hardware Requirements

• An x86_64 computer running Ubuntu 18.04 or ADLink Neuron Board

• Intel® Movidius Neural Compute Stick 2

• Intel® RealSense™ D400 Series

Software Requirements

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

• Robot SDK

Installation Steps

• Automated installation

git clone https://github.com/intel/robot_sdk.git
cd robot_sdk
./products/tb3/tb3_install.sh

• Manual installation

# Build ROS2 packages
./robot_sdk.sh product tb3                   # select tb3 as target product
./robot_sdk.sh sync-src all --force          # sync all ROS2 source code to sdk_ws folder, clean folder with "--force"
./robot_sdk.sh build all --include-deps --cmake-args -DCMAKE_BUILD_TYPE=Release
                                             # build all ROS2 packges and build dependences with "--include-deps"
./robot_sdk.sh install                       # install generated ROS2 workspace to /opt/robot_sdk/ folder

# Remove ROS2 packages
./robot_sdk.sh clean                         # remove build folders.
./robot_sdk.sh uninstall                     # uninstall generated ROS2 workspace from /opt/robot_sdk and delete sdk_ws build folder

The build workspace overlay will be like this:

.
└── sdk_ws
    ├── core_ws # ROS2 core packages from https://github.com/intel/robot_sdk/tree/master/products/tb3/core/ros2.repos.
    │   ├── build
    │   ├── install
    │   └── src
    ├── device_ws # Turtlebot3 packages from https://github.com/intel/robot_sdk/tree/master/products/tb3/device/repos/turtlebot3.repos.
    │   ├── build
    │   ├── install
    │   └── src
    └── modules_ws # Intel® packages from https://github.com/intel/robot_sdk/tree/master/products/tb3/repos/intel.repos.
        ├── build
        ├── install
        └── src

Develop ROS 2 packages

After Robot SDK build environment installed, you could source setup.bash and develop ROS 2 package.

cd ~/robot_sdk
source /opt/robot_sdk/robot_sdk_setup.bash
cd sdk_ws/device_ws
colcon build --symlink-install --base-paths src/navigation2
source install/local_setup.bash

#First source the robot sdk setup, then create a workspace for your new project, for example:
source /opt/robot_sdk/robot_sdk_setup.bash
mkdir ~/ros2_ws
#Then add your repo to the workspace:
mkdir ~/ros2/src/my_repo