Welcome to Aurora S repository

ROS Usage Guide

Official Website:

Github Download Link: https://github.com/Slamtec/aurora_ros

1. Development Environment Requirements

Based on Ubuntu 20.04 with the ROS1 package installed.

2. Hardware Requirements

• To use the ROS SDK, you will need an Aurora spatial mapping device, powered on and configured with a suitable IP address. The slamware_ros_sdk_server_node node will attempt to connect to this device after startup.
• This product requires the driverless network card included in the accessory package to use the hotspot connection. This accessory is optional. If you do not have a network card, you will need to connect an external network cable to establish a local area network for data acquisition.

The image above shows auroras connected to a wired network via a laptop's Ethernet port, enabling LAN communication.

3. Environment Setup

If you are using our pre-installed virtual machine or other pre-installed motherboard images, you do not need to re-install the environment setup steps below; you can proceed directly to running the image creation command.

3.1. Downloading the Source Code

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git clone https://github.com/Slamtec/aurora_ros.git

The above steps are for downloading the source code online. You can also download the downloaded source code archive from your network drive.

3.2 Compiling

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cd aurora_ros
catkin_make

3.3 Configuring the Workspace System Environment

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source devel/setup.bash

To automatically load the environment each time you start the terminal, add the following command to your ~/.bashrc file.

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echo "source ~/aurora_ros/devel/setup.bash" >> ~/.bashrc

3.4 Starting the Graph Builder

Virtual Machine Version:

Open the virtual machine provided in the documentation. If the Aurora device is in AP mode, connect to it. Hotspot. If it's not in AP mode, you need to connect directly to the hotspot via a network cable. Run the following command in the terminal:

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roslaunch slamware_ros_sdk slamware_ros_sdk_server_and_view.launch ip_address:=192.168.11.1

Orin nano version:

If the Aurora device is in AP mode, connect to the Aurora hotspot. If it's not in AP mode, you need to connect directly to the hotspot via a network cable. Run the following command in the terminal: (An external display is required for operation)

To experience the latest features, repeat steps 3.1, 3.2, and 3.3 on Docker, pull the latest feature package, compile it, and run it.

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roslaunch slamware_ros_sdk slamware_ros_sdk_server_and_view.launch ip_address:=192.168.11.1

Raspberry Pi 5, X5, Jetson Nano Versions:

Wiring Diagram:

For the Raspberry Pi desktop version, Jetson Nano, or X5 desktop version, after successfully booting up, if the Aurora device is in AP mode, connect to the Aurora hotspot. If it's not in AP mode, a direct Ethernet cable connection is required.

First, enter Docker and enter the terminal: (An external monitor is required for operation)

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sh ros2_humble.sh

If the following screen appears, it indicates successful Docker entry.

To experience the latest features, repeat steps 3.1, 3.2, and 3.3 on Docker, download the latest feature package, compile it, and then run it.

Then, in the Docker terminal, enter:

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roslaunch slamware_ros_sdk slamware_ros_sdk_server_and_view.launch ip_address:=192.168.11.1

If successful, you should be able to view the map creation screen.