Install Autonomous Mobile Robot Deb packages#

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

Note: Before proceeding, ensure that you have first prepared the target system`.

Install the toolkit on the target

Install in a Docker container (optional)

To run Autonomous Mobile Robot in a Docker container you must have Docker installed on your system. You can go with an existing installation or start with a fresh install.

Install Docker

Follow the Install Docker_Engine on Ubuntu OS guide, to install Docker on your target system.

After uninstalling any old Docker Engine versions you have the option to:

Install using the Apt repository
Install from a Deb package file
Install using the convenience script

Now you are ready to set up a Dockerfile that you can use to create your own Autonomous Mobile Robot Docker image.

Follow the Dockerfile reference to learn how to create and launch your Docker image.

Example of installing the Robotics SDK inside a Docker container

Note: The following example is provided as a reference only. Modify for your specific needs and environment, include for instance any proxy settings that may be necessary.

Sample Dockerfile

The Dockerfile defines the content of your Docker image.

Jazzy

# Create image from ROS2 Jazzy base
FROM ros:jazzy-ros-base-jammy

ENV DEBIAN_FRONTEND=noninteractive

# Install bootstrap packages
RUN apt-get update \
   && apt-get install --no-install-recommends -y git apt-utils wget \
   && rm -rf /var/lib/apt/lists/*

# Add APT gpg key
RUN bash -c 'wget -q -O- https://eci.intel.com/repos/gpg-keys/GPG-PUB-KEY-INTEL-ECI.gpg | tee /usr/share/keyrings/eci-archive-keyring.gpg > /dev/null'

# Add ECI APT repo
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://eci.intel.com/repos/$(lsb_release -sc) isar main" | tee /etc/apt/sources.list.d/eci.list'
RUN bash -c 'echo "deb-src [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://eci.intel.com/repos/$(lsb_release -sc) isar main" | tee -a /etc/apt/sources.list.d/eci.list'
RUN bash -c 'echo -e "Package: *\nPin: origin eci.intel.com\nPin-Priority: 1000" | tee /etc/apt/preferences.d/isar'

# Add AMR APT repo
RUN bash -c 'echo "deb [trusted=yes] https://amrdocs.intel.com/repos/$(lsb_release -sc) amr main" | tee /etc/apt/sources.list.d/amr.list'
RUN bash -c 'echo "deb-src [trusted=yes] https://amrdocs.intel.com/repos/$(lsb_release -sc) amr main" | tee -a /etc/apt/sources.list.d/amr.list'
RUN bash -c 'echo -e "Package: *\nPin: origin amrdocs.intel.com\nPin-Priority: 1001" | tee /etc/apt/preferences.d/isar'

# Add oneAPI APT repo
RUN bash -c 'wget -q -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | tee /usr/share/keyrings/oneapi-archive-keyring.gpg'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | tee /etc/apt/sources.list.d/oneAPI.list'
RUN bash -c 'echo -e "Package: intel-oneapi-runtime-*\nPin: version 2024.1.*\nPin-Priority: 1001" > /etc/apt/preferences.d/oneAPI'

# Add RealSense APT repo
RUN bash -c 'mkdir -p /root/.gnupg'
RUN bash -c 'gpg --no-default-keyring --keyring /usr/share/keyrings/realsense-archive-keyring.gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/realsense-archive-keyring.gpg] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/realsense2.list'

# Add OpenVINO APT repo
RUN bash -c 'wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | sudo tee /usr/share/keyrings/openvino-archive-keyring.gpg'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/openvino-archive-keyring.gpg] https://apt.repos.intel.com/openvino/2023 ubuntu22 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2023.list'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/openvino-archive-keyring.gpg] https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2024.list'

RUN bash -c 'echo -e "\nPackage: openvino-libraries-dev\nPin: version 2024.2.0*\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/intel-openvino'
RUN bash -c 'echo -e "\nPackage: openvino\nPin: version 2024.2.0*\nPin-Priority: 1001" | sudo tee -a /etc/apt/preferences.d/intel-openvino'
RUN bash -c 'echo -e "\nPackage: ros-jazzy-openvino-wrapper-lib\nPin: version 2024.2.0*\nPin-Priority: 1002" | sudo tee -a /etc/apt/preferences.d/intel-openvino'
RUN bash -c 'echo -e "\nPackage: ros-jazzy-openvino-node\nPin: version 2024.2.0*\nPin-Priority: 1002" | sudo tee -a /etc/apt/preferences.d/intel-openvino'

# Ignore flann version 1.19
RUN bash -c 'echo -e "\nPackage: libflann*\nPin: version 1.19.*\nPin-Priority: -1\n\nPackage: flann*\nPin: version 1.19.*\nPin-Priority: -1" >> /etc/apt/preferences.d/isar'

# Populate debconf database with GPU selection for liborb-lze to eliminate the need for prompt
ARG GPU_GEN=gen12lp
RUN echo "liborb-lze liborb-lze/march select ${GPU_GEN}" | debconf-set-selections
RUN echo "liborb-lze:amd64 liborb-lze/march select ${GPU_GEN}" | debconf-set-selections

# Install robotics-sdk package
RUN apt-get update \
   && apt-get install -y ros-jazzy-robotics-sdk \
   && rm -rf /var/lib/apt/lists/*

# Add render group as necessary
ARG RENDER_ID=109
RUN if [ $(getent group render) ] ; then echo 'exists' ; else groupadd --gid ${RENDER_ID} render ; fi

# Config environ
ARG DOCKER_USER=amr
ARG DOCKER_USER_UID=1000
ARG DOCKER_USER_GROUPS=sudo,video,audio,plugdev,dialout,render

ENV DOCKER_USER         ${DOCKER_USER}
ENV DOCKER_USER_UID     ${DOCKER_USER_UID}
ENV HOME_DOCKER_USER    /home/${DOCKER_USER}
ENV WORKSPACE_DIR       ${HOME_DOCKER_USER}/workspace

# Create User
SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
USER root
RUN useradd --create-home --shell /bin/bash --gid root --uid ${DOCKER_USER_UID} --groups ${DOCKER_USER_GROUPS} ${DOCKER_USER} \
   && passwd -d root \
   && passwd -d ${DOCKER_USER} \
   && echo "${DOCKER_USER} ALL=(ALL) NOPASSWD:ALL" | tee /etc/sudoers.d/${DOCKER_USER} \
   && echo 'export DISPLAY=":1"' >> /home/${DOCKER_USER}/.bashrc \
   && echo 'source /opt/ros/jazzy/setup.bash' >> /home/${DOCKER_USER}/.bashrc

# Create workspace folder
RUN mkdir -p ${WORKSPACE_DIR} && chown ${DOCKER_USER}:${DOCKER_USER_UID} ${WORKSPACE_DIR}
WORKDIR ${WORKSPACE_DIR}

USER ${DOCKER_USER}

CMD ["/bin/bash"]

Humble

# Create image from ROS2 Humble base
FROM ros:humble-ros-base-jammy

ENV DEBIAN_FRONTEND=noninteractive

# Install bootstrap packages
RUN apt-get update \
   && apt-get install --no-install-recommends -y git apt-utils wget \
   && rm -rf /var/lib/apt/lists/*

# Add APT gpg key
RUN bash -c 'wget -q -O- https://eci.intel.com/repos/gpg-keys/GPG-PUB-KEY-INTEL-ECI.gpg | tee /usr/share/keyrings/eci-archive-keyring.gpg > /dev/null'

# Add ECI APT repo
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://eci.intel.com/repos/$(lsb_release -sc) isar main" | tee /etc/apt/sources.list.d/eci.list'
RUN bash -c 'echo "deb-src [signed-by=/usr/share/keyrings/eci-archive-keyring.gpg] https://eci.intel.com/repos/$(lsb_release -sc) isar main" | tee -a /etc/apt/sources.list.d/eci.list'
RUN bash -c 'echo -e "Package: *\nPin: origin eci.intel.com\nPin-Priority: 1000" | tee /etc/apt/preferences.d/isar'

# Add AMR APT repo
RUN bash -c 'echo "deb [trusted=yes] https://amrdocs.intel.com/repos/$(lsb_release -sc) amr main" | tee /etc/apt/sources.list.d/amr.list'
RUN bash -c 'echo "deb-src [trusted=yes] https://amrdocs.intel.com/repos/$(lsb_release -sc) amr main" | tee -a /etc/apt/sources.list.d/amr.list'
RUN bash -c 'echo -e "Package: *\nPin: origin amrdocs.intel.com\nPin-Priority: 1001" | tee /etc/apt/preferences.d/isar'

# Add oneAPI APT repo
RUN bash -c 'wget -q -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | tee /usr/share/keyrings/oneapi-archive-keyring.gpg'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/oneapi-archive-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | tee /etc/apt/sources.list.d/oneAPI.list'
RUN bash -c 'echo -e "Package: intel-oneapi-runtime-*\nPin: version 2024.1.*\nPin-Priority: 1001" > /etc/apt/preferences.d/oneAPI'

# Add RealSense APT repo
RUN bash -c 'mkdir -p /root/.gnupg'
RUN bash -c 'gpg --no-default-keyring --keyring /usr/share/keyrings/realsense-archive-keyring.gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/realsense-archive-keyring.gpg] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/realsense2.list'

# Add OpenVINO APT repo
RUN bash -c 'wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | sudo tee /usr/share/keyrings/openvino-archive-keyring.gpg'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/openvino-archive-keyring.gpg] https://apt.repos.intel.com/openvino/2023 ubuntu22 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2023.list'
RUN bash -c 'echo "deb [signed-by=/usr/share/keyrings/openvino-archive-keyring.gpg] https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2024.list'

RUN bash -c 'echo -e "\nPackage: openvino-libraries-dev\nPin: version 2024.2.0*\nPin-Priority: 1001" | sudo tee /etc/apt/preferences.d/intel-openvino'
RUN bash -c 'echo -e "\nPackage: openvino\nPin: version 2024.2.0*\nPin-Priority: 1001" | sudo tee -a /etc/apt/preferences.d/intel-openvino'
RUN bash -c 'echo -e "\nPackage: ros-humble-openvino-wrapper-lib\nPin: version 2024.2.0*\nPin-Priority: 1002" | sudo tee -a /etc/apt/preferences.d/intel-openvino'
RUN bash -c 'echo -e "\nPackage: ros-humble-openvino-node\nPin: version 2024.2.0*\nPin-Priority: 1002" | sudo tee -a /etc/apt/preferences.d/intel-openvino'

# Ignore flann version 1.19
RUN bash -c 'echo -e "\nPackage: libflann*\nPin: version 1.19.*\nPin-Priority: -1\n\nPackage: flann*\nPin: version 1.19.*\nPin-Priority: -1" >> /etc/apt/preferences.d/isar'

# Populate debconf database with GPU selection for liborb-lze to eliminate the need for prompt
ARG GPU_GEN=gen12lp
RUN echo "liborb-lze liborb-lze/march select ${GPU_GEN}" | debconf-set-selections
RUN echo "liborb-lze:amd64 liborb-lze/march select ${GPU_GEN}" | debconf-set-selections

# Install robotics-sdk package
RUN apt-get update \
   && apt-get install -y ros-humble-robotics-sdk \
   && rm -rf /var/lib/apt/lists/*

# Add render group as necessary
ARG RENDER_ID=109
RUN if [ $(getent group render) ] ; then echo 'exists' ; else groupadd --gid ${RENDER_ID} render ; fi

# Config environ
ARG DOCKER_USER=amr
ARG DOCKER_USER_UID=1000
ARG DOCKER_USER_GROUPS=sudo,video,audio,plugdev,dialout,render

ENV DOCKER_USER         ${DOCKER_USER}
ENV DOCKER_USER_UID     ${DOCKER_USER_UID}
ENV HOME_DOCKER_USER    /home/${DOCKER_USER}
ENV WORKSPACE_DIR       ${HOME_DOCKER_USER}/workspace

# Create User
SHELL ["/bin/bash", "-xo", "pipefail", "-c"]
USER root
RUN useradd --create-home --shell /bin/bash --gid root --uid ${DOCKER_USER_UID} --groups ${DOCKER_USER_GROUPS} ${DOCKER_USER} \
   && passwd -d root \
   && passwd -d ${DOCKER_USER} \
   && echo "${DOCKER_USER} ALL=(ALL) NOPASSWD:ALL" | tee /etc/sudoers.d/${DOCKER_USER} \
   && echo 'export DISPLAY=":1"' >> /home/${DOCKER_USER}/.bashrc \
   && echo 'source /opt/ros/humble/setup.bash' >> /home/${DOCKER_USER}/.bashrc

# Create workspace folder
RUN mkdir -p ${WORKSPACE_DIR} && chown ${DOCKER_USER}:${DOCKER_USER_UID} ${WORKSPACE_DIR}
WORKDIR ${WORKSPACE_DIR}

USER ${DOCKER_USER}

CMD ["/bin/bash"]

Sample create script

Run the create script to create your Docker image based on the Dockerfile.

#!/bin/bash
cd "$( dirname "$0" )"

sudo apt install -y intel-gpu-tools debconf-utils

echo -e ""
sudo intel_gpu_top -L

echo -e "\nSelect the Intel integrated GPU present on this system. Suggested value is shown in the output above."
echo "  1. gen9  2. gen11  3. gen12lp"

while :; do
   read -p "Select GPU Generation (1, 2, or 3): " NBR
   [[ $NBR =~ ^[0-9]+$ ]] || { continue; }
   if ((NBR >= 1 && NBR <= 3)); then
      if [ $NBR = "1" ]; then
            GPU_GEN=gen9
      fi
      if [ $NBR = "2" ]; then
            GPU_GEN=gen11
      fi
      if [ $NBR = "3" ]; then
            GPU_GEN=gen12lp
      fi
      break
   fi
done

docker rmi robotics-sdk:latest 2>/dev/null
docker build --no-cache --build-arg="GPU_GEN=$GPU_GEN" --build-arg="RENDER_ID=$(getent group render | cut -d: -f3)" -f Dockerfile -t robotics-sdk .

Sample launch script

Launches the Docker image in Docker container.

#!/bin/bash
cd "$( dirname "$0" )"

docker run -it --rm -v /dev:/dev:ro --name robotics-sdk --network=host --privileged robotics-sdk:latest

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 9th, 11th or 12th Generation Intel® Core™ processors with Intel® Iris® Xe Integrated Graphics or Intel® UHD Graphics
sudo apt-get install ros-jazzy-collab-slam-lze

Humble

# Works only on 9th, 11th or 12th Generation Intel® Core™ processors with Intel® Iris® 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 13th Generation Intel® Core™ Processors 12th Generation Intel® Core™ Processors 11th 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.

Install Autonomous Mobile Robot Deb packages#

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