Qualcomm RB5 AMR SLAM features
Table of contents
RB5 AMR Offboard/Autonomous Mode Setup
Power up RB5 AMR and your host computer. Start up QGroundControl. QGC’s status will report Ready. Offboard mode is the default mechanism for autonomous operation, and is based on the PX4 Mavros Template for offboard operation. See more Here Currently, all AMR’s are shipped with an offboard mode ROS server running as well as ROS 1.0 pre-installed. You can confirm the server is ‘on’ by ssh-remote login when upon login the rb5-demo service is running.
rb5-agv-sensors.service loaded active running rb5-agv-sensors email@example.com loaded active running "rb5-camera-server-2" firstname.lastname@example.org loaded active running rb5-chirp-server-1 rb5-demo.service loaded active running rb5-demo rb5-modem.service loaded active running Cellular Modem Initialization rb5-net-check.service loaded active exited rb5-net-check rb5-px4-start.service loaded active running rb5-px4-start rb5-qvio-server.service loaded active running rb5-qvio-server rb5-streamer.service loaded active running rb5-streamer
Upon arming the vehicle and selecting Offboard Mode on the game pad or QGC, RB5 AMR will proceed to a 2 goal (waypoint) trajectory where the 2 points are 1 meter apart. The visual result is the AMR moving in a back-and-forth line motion. Please refer to the PX4 mavros documentation on further programming of RB5 AMR.
WARNING: Obstacle avoidance is turned off by default, so please keep clear of a 1 meter space around the vehicle while it is in this mode.