Getting Started Guide#

This Get Started Guide explains how to install the Autonomous Mobile Robot.

Requirements#

Knowledge Requirements#

You are familiar with executing Linux commands.
ROS 2 background strongly recommended.

Hardware Requirements#

Intel® processors:
- Intel® Core™ Ultra processors (Series 1-3)
- 11th-13th Generation Intel® Core™ processors with Intel® Iris® Xe Integrated Graphics or Intel® UHD Graphics
- Intel Atom® processor with Intel® SSE4.1 support
- Intel® Pentium® processor N4200/5, N3350/5, N3450/5 with Intel® HD Graphics
8 GB or more RAM
30 GB free space on hard drive
Canonical Ubuntu 24.04 LTS (Noble Numbat)
Intel® RealSense™ camera D435 or D457
Slamtec* RPLIDAR A3 2D LIDAR (optional)

Note: Intel does not recommend running simulations, like Gazebo*, on a physical robot.

1. Install Canonical Ubuntu OS#

Intel recommends a fresh installation of the Ubuntu distribution of the Linux OS for your target system, but this is not mandatory.

Install Ubuntu Ubuntu 24.04 (Noble Numat) or 22.04 (Jammy Jellyfish) based on your processor type. Your choice of OS version determines the compatible ROS distribution (Jazzy Jalisco or Humble Hawksbill, respectively).

Ubuntu 24.04

Depending on your processor type, select one of the following Canonical Ubuntu 24.04 LTS variants:

Processor type	Canonical Ubuntu 24.04 LTS variant	ROS2 Compatibility
Intel® Core™ Ultra Processors	Ubuntu OS version 24.04 LTS (Noble Numat) Desktop image	Jazzy

Ubuntu 22.04

Depending on your processor type, select one of the following Canonical Ubuntu 22.04 LTS variants:

Processor type	Canonical Ubuntu 22.04 LTS variant	ROS2 Compatibility
11-13th Generation Intel® Core™ Processors, Intel® Processor N-series (products formerly Alder Lake-N)	22.04 LTS image for Intel IoT platforms, available at Download Ubuntu image for Intel® IoT platforms	Humble

Visit the Canonical Ubuntu website to see the detailed installation instructions: Install Ubuntu desktop.

2. Install ROS 2 Distribution#

To install ROS 2 on your system, follow the ROS 2 setup guide:

Jazzy

https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html#ubuntu-debian-packages

Humble

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#ubuntu-debian-packages

2.1 Prepare your ROS 2 Environment#

In order to execute any ROS 2 command in a new shell, you first have to source the ROS 2 setup.bash and set the individual ROS_DOMAIN_ID for your ROS 2 communication graph.

Jazzy

source /opt/ros/jazzy/setup.bash
export ROS_DOMAIN_ID=42

Humble

source /opt/ros/humble/setup.bash
export ROS_DOMAIN_ID=42

Note: The value 42 serves just as an example. Use an individual ID for every ROS 2 node that is expected to participate in a given ROS 2 graph in order to avoid conflicts in handling messages.

Get more information about The ROS_DOMAIN_ID in:

Jazzy

documentation

Humble

documentation

2.2 Set up a permanent ROS 2 environment#

To simplify the handling of your system, you may add these lines to ~/.bashrc file. In this way, the required settings are executed automatically if a new shell is launched.

Jazzy

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
echo "export ROS_DOMAIN_ID=42" >> ~/.bashrc

Humble

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "export ROS_DOMAIN_ID=42" >> ~/.bashrc

2.3 Important Notes#

If you miss to source the ROS 2 setup bash script, you will not be able to execute any ROS 2 command.
If you forget to set a dedicated ROS_DOMAIN_ID, the ROS 2 command will be executed and may partially behave as expected. But you have to expect a diversity of unexpected behaviors too.
- Ensure you use the same ROS_DOMAIN_ID for every ROS 2 node that is expected to participate in a given ROS 2 graph.
- Ensure you use an individual ROS_DOMAIN_ID for every ROS 2 communication graph, in order to avoid conflicts in message handling.

3. Set up the Autonomous Mobile Robot APT Repositories#

This section explains the procedure to configure the APT package manager to use the hosted APT repositories.

Open a terminal prompt which will be used to execute the remaining steps.

Download the APT key to the system keyring:

sudo -E wget -O- https://eci.intel.com/repos/gpg-keys/GPG-PUB-KEY-INTEL-ECI.gpg | sudo tee /usr/share/keyrings/eci-archive-keyring.gpg > /dev/null

Add the signed entry to Autonomous Mobile Robot APT sources and configure the APT client to use the Autonomous Mobile Robot APT repositories:

echo "deb [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://eci.intel.com/repos/$(source /etc/os-release && echo $VERSION_CODENAME) isar main" | sudo tee /etc/apt/sources.list.d/eci.list > /dev/null
echo "deb-src [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://eci.intel.com/repos/$(source /etc/os-release && echo $VERSION_CODENAME) isar main" | sudo tee -a /etc/apt/sources.list.d/eci.list > /dev/null
echo "deb [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://amrdocs.intel.com/repos/$(source /etc/os-release && echo $VERSION_CODENAME) amr main" | sudo tee /etc/apt/sources.list.d/amr.list > /dev/null
echo "deb-src [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://amrdocs.intel.com/repos/$(source /etc/os-release && echo $VERSION_CODENAME) amr main" | sudo tee -a /etc/apt/sources.list.d/amr.list > /dev/null

Configure the Autonomous Mobile Robot APT repository to have higher priority over other repositories:

echo -e "Package: *\nPin: origin eci.intel.com\nPin-Priority: 1000" | sudo tee /etc/apt/preferences.d/isar
echo -e "Package: *\nPin: origin amrdocs.intel.com\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/amr

Configure the Autonomous Mobile Robot APT repository to ignore FLANN 1.19 version

echo -e "\nPackage: libflann*\nPin: version 1.19.*\nPin-Priority: -1\n\nPackage: flann*\nPin: version 1.19.*\nPin-Priority: -1" | sudo tee -a /etc/apt/preferences.d/isar

Configure the APT repository of the Intel® oneAPI Base Toolkit:

wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | sudo tee /usr/share/keyrings/oneapi-archive-keyring.gpg > /dev/null
echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | sudo tee /etc/apt/sources.list.d/oneAPI.list > /dev/null
echo -e "Package: intel-oneapi-runtime-*\nPin: version 2025.3.*\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/oneapi > /dev/null

For latest Intel silicon support, add the Canonical kisak and kobuk Private Package Archives (PPA):

Jazzy

sudo -E add-apt-repository -y ppa:kisak/kisak-mesa
sudo -E add-apt-repository -y ppa:kobuk-team/intel-graphics

Humble

sudo -E add-apt-repository -y ppa:kisak/kisak-mesa

5. Install Autonomous Mobile Robot Deb packages#

This section details steps to install Autonomous Mobile Robot Deb packages.

Before using the Autonomous Mobile Robot APT repositories, update the APT packages list:
```
sudo apt update
```
The APT package manager will download the latest list of packages available for all configured repositories.

Follow the instructions to install Gazebo:

Jazzy

sudo apt-get update
sudo apt-get install curl lsb-release gnupg

sudo -E curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic

Humble

sudo apt-get update
sudo apt-get install curl lsb-release gnupg

sudo -E add-apt-repository ppa:openrobotics/gazebo11-gz-cli
sudo -E curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update

Choose the Autonomous Mobile Robot Deb package to install.

Jazzy

ros-jazzy-robotics-sdk The standard version of the Autonomous Mobile Robot. This package includes almost everything except for a handful of tutorials and bag files.

ros-jazzy-robotics-sdk-complete The complete version of the Autonomous Mobile Robot. It also includes those items excluded from the standard version. Please note that the complete SDK downloads approximately 20GB of additional files.

Humble

ros-humble-robotics-sdk The standard version of the Autonomous Mobile Robot. This package includes almost everything except for a handful of tutorials and bag files.

ros-humble-robotics-sdk-complete The complete version of the Autonomous Mobile Robot. It also includes those items excluded from the standard version. Please note that the complete SDK downloads approximately 20GB of additional files.
Install the chosen Autonomous Mobile Robot Deb package

Install command example:
Jazzy
sudo apt install ros-jazzy-robotics-sdk
Humble
Intel oneAPI requires GCC >= 12, so upgrade GCC as well.
sudo apt install gcc-12 g++-12 sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 60 --slave /usr/bin/g++ g++ /usr/bin/g++-12 sudo apt install ros-humble-robotics-sdk
The standard version of the Autonomous Mobile Robot should generally download and install all files within just a few minutes. The complete version of the Autonomous Mobile Robot will take several more minutes and consume significantly more network bandwidth.

The actual installation time will vary greatly based primarily upon the number of packages that need to be installed and the network connection speed.

Install one of the following packages based upon your processor type:

Intel SSE-only CPU instruction accelerated package for Collaborative SLAM (installed by default):

Jazzy

# Required for Intel® Atom® processor-based systems
sudo apt-get install ros-jazzy-collab-slam-sse

Humble

# Required for Intel® Atom® processor-based systems
sudo apt-get install ros-humble-collab-slam-sse

Intel AVX2 CPU instruction accelerated package for Collaborative SLAM:

Jazzy

# Works only on Intel® Core™ processor-based systems
sudo apt-get install ros-jazzy-collab-slam-avx2

Humble

# Works only on Intel® Core™ processor-based systems
sudo apt-get install ros-humble-collab-slam-avx2

Intel GPU Level-Zero accelerated package for Collaborative SLAM:

Jazzy

# Works only on Intel® Core™ processors with Intel® Xe Integrated Graphics or Intel® UHD Graphics
sudo apt-get install ros-jazzy-collab-slam-lze

Humble

# Works only on Intel® Core™ processors with Intel® Xe Integrated Graphics or Intel® UHD Graphics
sudo apt-get install ros-humble-collab-slam-lze

During the installation of the above packages, you will see a dialogue asking you for the GPU generation of your system:

debconf_liborb-lze

In this dialogue, select the GPU Generation according to the following table depending on your processor type. If you are unsure, it’s safe to select genXe.

GPU Generation	Processors
`genXe`	Intel® Core™ Ultra Processors 11-13th Generation Intel® Core™ Processors Intel® Processor N-series (products formerly Alder Lake-N)
`gen11`	Products formerly Ice Lake
`gen9`	Products formerly Skylake

If you want to redisplay this dialogue, you have to uninstall the liborb-lze package using the commands below. This will also remove the packages that depend on the liborb-lze package. Then you can install the liborb-lze package again and the dialogue will be redisplayed:

sudo apt remove --purge liborb-lze
echo PURGE | sudo debconf-communicate liborb-lze
sudo apt install liborb-lze

Since the liborb-lze package is one of the fundamental dependencies of the Autonomous Mobile Robot, you will have to re-install the Intel GPU Level-Zero accelerated package for Collaborative SLAM (ros-jazzy-collab-slam-lze) as described above.

6. Install RealSense™ Camera SDK#

RealSense™ SDK is a cross-platform library for RealSense™ depth cameras. The SDK allows depth and color streaming, and provides intrinsic and extrinsic calibration information. The library also offers synthetic streams (pointcloud, depth aligned to color and vise-versa), and a built-in support for record and playback of streaming sessions.

RealSense™ SDK includes support for ROS and ROS 2, allowing you access to commonly used robotic functionality with ease.

Register the server’s public key:

sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

Add RealSense to the list of repositories:

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/librealsense.list

Update your APT repository caches after setting up the repository:
```
sudo apt update
```

Configure APT preferences to pin the RealSense version:

This step pins the RealSense SDK to validated versions that ensure compatibility with ROS 2 and the tutorials in this documentation. This prevents automatic upgrades during apt upgrade that could introduce compatibility issues.

Jazzy

echo -e "Package: librealsense2*\nPin: version 2.56.5-0~realsense.17055\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/librealsense

Humble

echo -e "Package: librealsense2*\nPin: version 2.55.1-0~realsense.12474\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/librealsense

Install the RealSense drivers and libraries:
```
sudo apt install librealsense2-dkms
sudo apt install librealsense2
```
Note: The pinned version ensures stability across tutorials. To upgrade in the future, update the version in /etc/apt/preferences.d/librealsense before installing.

7. Install Intel® GPU Driver on Intel® Core™ Ultra Processors#

If you want to run OpenVINO™ inferencing applications on the GPU device of Intel® Core™ Ultra processors, you need to install the Intel® GPU driver. If your system does not have an Intel® Core™ Ultra Processor, you should skip this step.

Install mesa packages from kisak PPA:

Jazzy

sudo apt install libegl-mesa0 libgl1-mesa-dri libgbm1 libglx-mesa0 mesa-libgallium mesa-va-drivers mesa-va-drivers mesa-vdpau-drivers mesa-vulkan-drivers xwayland

Humble

sudo apt install libegl-mesa0 libgl1-mesa-dri libgbm1 libglx-mesa0 mesa-va-drivers mesa-va-drivers mesa-vdpau-drivers mesa-vulkan-drivers xwayland

Install the latest Linux kernel:

sudo apt install linux-intel-rt-experimental

Install the eci-customizations package to populate the GRUB menu with the latest Linux kernel:
```
sudo apt install eci-customizations
```
Install GuC and HuC Linux firmware package:
```
sudo apt install linux-firmware
```

8. Install the Intel® NPU Driver on Intel® Core™ Ultra Processors#

If you want to run OpenVINO™ inferencing applications on the NPU device of Intel® Core™ Ultra processors, you need to install the Intel® NPU driver. If your system does not have an Intel® Core™ Ultra Processor, you should skip this step.

General information on the Intel® NPU driver can be found on the Linux NPU Driver website. The driver consists of the following packages:

intel-driver-compiler-npu: Intel® driver compiler for NPU hardware; the driver compiler enables compilation of OpenVINO™ IR models using the Level Zero Graph Extension API.
intel-fw-npu: Intel® firmware package for NPU hardware.
intel-level-zero-npu: Intel® Level Zero driver for NPU hardware; this library implements the Level Zero API to interact with the NPU hardware.

Note: The installation instructions on the Linux NPU Driver website download the *.deb files for these components, and install the packages from the downloaded files. In consequence, you won’t get any upgrades for these packages without manual interaction. For this reason, it’s better to use packages from an APT package feed, as it is described in the following.

The packages of the Intel® NPU driver are provided by the APT package feed, which you have added to your system when you setup the APT package repositories earlier. This APT package feed also provides all dependencies of the Intel® NPU driver packages.

To install the Intel® NPU driver, complete the following steps:

Install the NPU packages:

sudo apt-get install intel-level-zero-npu intel-driver-compiler-npu

Add your user account to the render group:
```
sudo usermod -a -G render $USER
```
After this step, log-out (or reboot) and log-in again. Verify that your account belongs to the render group now:
```
groups $USER
```

Set the render group for accel device:

sudo chown root:render /dev/accel/accel0
sudo chmod g+rw /dev/accel/accel0

This step must be repeated each time when the module is reloaded or after every reboot. To avoid the manual setup of the group for the accel device, you can configure the following udev rules:

sudo bash -c "echo 'SUBSYSTEM==\"accel\", KERNEL==\"accel*\", GROUP=\"render\", MODE=\"0660\"' > /etc/udev/rules.d/10-intel-vpu.rules"
sudo udevadm control --reload-rules
sudo udevadm trigger --subsystem-match=accel

Now, you can check that the device has been set up with appropriate access rights. Verify that you can see the /dev/accel/accel0 device and that the device belongs to the render group:

$ ls -lah /dev/accel/accel0
crw-rw---- 1 root render 261, 0 Jul  1 13:10 /dev/accel/accel0

9. Reboot to load latest Linux kernel and firmware#

sudo reboot

Installation Troubleshooting#

Support Forum#

If you encounter difficulties, visit the Support Forum for assistance.

APT Package Manager#

If the APT package manager is unable to connect to the repositories, follow these APT troubleshooting tips:

Make sure that the system has network connectivity.
Make sure that port 80 is not blocked by a firewall.
Configure an APT proxy (if network traffic routes through a proxy server).
- To configure an APT proxy, add the following lines to a file at /etc/apt/apt.conf.d/proxy.conf (replace the placeholder as per your specific user and proxy server)::
```
Acquire:http:Proxy "http://user:password@proxy.server:port/";
Acquire:https:Proxy "http://user:password@proxy.server:port/";
```
- To ensure proper proxy settings for other tools required during the package installation add the the required proxy settings to /etc/environment:
```
http_proxy=http://user:password@proxy.server:port
https_proxy=http://user:password@proxy.server:port
no_proxy="localhost,127.0.0.1,127.0.0.0/8"
```
After setting the proxy values in /etc/apt/apt.conf.d/proxy.conf and /etc/environment you will have to reboot the device, so these settings become effective.

Getting Started Guide#

Requirements#

Knowledge Requirements#

Hardware Requirements#

1. Install Canonical Ubuntu OS#

2. Install ROS 2 Distribution#

2.1 Prepare your ROS 2 Environment#

2.2 Set up a permanent ROS 2 environment#

2.3 Important Notes#

3. Set up the Autonomous Mobile Robot APT Repositories#

4. Install OpenVINO™ Packages#

4.1 Install the OpenVINO™ Runtime and the ROS 2 OpenVINO™ Toolkit#

4.2 OpenVINO™ Re-Installation and Troubleshooting#

5. Install Autonomous Mobile Robot Deb packages#

6. Install RealSense™ Camera SDK#

7. Install Intel® GPU Driver on Intel® Core™ Ultra Processors#

8. Install the Intel® NPU Driver on Intel® Core™ Ultra Processors#

9. Reboot to load latest Linux kernel and firmware#

Installation Troubleshooting#

Support Forum#

APT Package Manager#

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