Autonomous Mobile Robot Middleware#

  • Intel® Distribution of OpenVINO™ toolkit is a comprehensive toolkit for rapidly developing applications and solutions across a range of tasks. This includes emulation of human vision, automatic speech recognition, natural language processing, recommendation systems, and more. Built on latest generations of artificial neural networks, including Convolutional Neural Networks (CNNs), recurrent networks, and attention-based networks, the toolkit extends computer vision and non-vision workloads across Intel® hardware while optimizing performance. It accelerates applications with high-performance AI and deep learning inference, deployed from edge to cloud.

  • Intel® oneAPI Base Toolkit is capable of executing sample applications in the toolkit. This core set of tools and libraries is designed for developing high-performance, data-centric applications across diverse architectures. It features an industry-leading C++ compiler and the Data Parallel C++ (DPC++) language, an evolution of C++ for heterogeneous computing. For Intel® oneAPI Base Toolkit training, refer to Intel® DPC++ Compatibility Tool Self-Guided Jupyter Notebook Tutorial.

  • The RealSense™ ROS 2 Wrapper node is utilized for RealSense™ cameras within ROS 2.

  • RealSense™ SDK 2 is used to implement software for RealSense™ cameras.

  • ROS 2 OpenVINO™ Toolkit provides a ROS 2-adapted runtime framework of neural networks, enabling rapid deployment of applications and solutions for vision inference.

  • AAEON* ROS 2 interface is the ROS 2 driver node for AAEON Autonomous Mobile Robots.

  • Slamtec* RPLIDAR ROS 2 Wrapper node is used with RPLIDAR LiDAR sensors in ROS 2.

  • SICK Safetyscanners ROS 2 Driver reads raw data from SICK Safety Scanners and publishes the data as a laser_scan message.

  • ROS 2 ros1_bridge facilitates a network bridge for exchanging messages between ROS 1 and ROS 2. This allows users to evaluate the Autonomous Mobile Robot on Autonomous Mobile Robots or with sensors for which only ROS 1 driver nodes exist.

  • ROS 2, Robot Operating System (ROS), is a collection of open-source software libraries and tools designed for building robot applications. ROS 2 depends on other middleware, such as the Object Management Group (OMG) DDS connectivity framework, which uses a publish-subscribe pattern. The standard ROS 2 distribution includes the eProsima Fast DDS implementation.

  • OpenCV (Open Source Computer Vision Library) is an open-source library that includes several hundred computer vision algorithms.

  • GStreamer Framework includes support for libv4l2 video sources, GStreamer good plugins for video and audio, and a GStreamer plugin for displaying a video stream in a window.

  • Teleop Twist Joy is a generic facility for teleoperating twist-based ROS 2 robots with a standard joystick. It converts joy messages to velocity commands. This node does not include rate limiting or auto-repeat functionality. It is recommended to leverage the features integrated into ROS 2 Driver for a Generic Joystick.

  • Teleop Twist Keyboard provides a generic keyboard teleoperation solution for ROS 2.

  • Twist Multiplexer is essential in scenarios where multiple sources move a robot using a geometry_msgs::Twist message. It plays an important role in multiplexing all input sources into a single source that goes to the Autonomous Mobile Robot control node.

  • ROS 2 Driver for Generic Joysticks.

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