# Autonomous Mobile Robot Tools

## ROS 2 Tools

The Autonomous Mobile Robot is validated using ROS 2 tools as it is not compatible with ROS 1 components. To facilitate interaction, a ROS 1 bridge is included, enabling Autonomous Mobile Robot components to interface with ROS 1 components.

- From the hardware perspective of the supported platforms, there are no known limitations for ROS 1 components.
- For information on porting ROS 1 applications to ROS 2, refer to the [How to Guide](https://docs.ros.org/en/rolling/Contributing/Migration-Guide.html).

Autonomous Mobile Robot includes:

- [rqt](https://wiki.ros.org/rqt), a software framework of ROS 2 that implements the various GUI tools in the form of plugins.
- [rviz2](https://github.com/ros2/rviz), a tool used to visualize ROS 2 topics.
- [colcon](https://colcon.readthedocs.io/en/released/) (collective construction), a command-line tool to improve the workflow of building, testing, and using multiple software packages (it automates the process, handles the ordering, and sets up the environment to use the packages).

## Simulation Tools

- The [Gazebo\* robot simulator](https://classic.gazebosim.org/tutorials/?tut=ros_wrapper_versions), making it possible to rapidly test algorithms, design robots, perform regression testing, and train AI systems using realistic scenarios. Gazebo offers the ability to simulate populations of robots accurately and efficiently in complex indoor and outdoor environments.
- An [industrial simulation room model for Gazebo\*](https://classic.gazebosim.org/ariac), the Open Source Robotics Foundation (OSRF) Gazebo Environment for Agile Robotics (GEAR) workcell that was used for the ARIAC competition in 2018.
- A pick-and-place simulation demo to showcase the interaction of a conveyor belt, a TurtleBot3 Waffle Autonomous Mobile Robot (AMR), and two UR5 robotic arms (ARM) in a simulated environment.
- A wandering application in Gazebo simulation to showcase autonomous mapping of a Gazebo world using a TurtleBot3 Waffle robot.

## Other Tools

- **Intel® oneAPI Base Toolkit** encompasses essential components such as the DPC++ compiler, compatibility tool, and a suite of debugging and profiling tools, like the VTune™ Profiler (formerly known as Intel System Studio).
- **Intel® Distribution of OpenVINO™ toolkit**, inclusive of the Model Optimization Tool.
- **Intel® ESDQ**, a self-certification test suite to enable partners to determine their platform's compatibility with the Autonomous Mobile Robot.
- **AWS\* RoboMaker**, a cloud-based simulation service that empowers robotics developers to run, scale, and automate simulation seamlessly without the need to manage any infrastructure.
- **Foxglove Studio**, interactive visualizations to analyze live connections and pre-recorded data.