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 ROS2 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 connecting Auroras to a wired network via a laptop's Ethernet port, establishing 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 -b ros2 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-ros2
colcon build

3.3 Configuring the Workspace System Environment

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source install/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-ros2/install/setup.bash" >> ~/.bashrc

3.4 Configuring the dynamic library system environment for image construction

Since aurora_remote_public_lib is a dynamic library, you need to add the path to your platform to LD_LIBRARY_PATH. For example, if you place slamware_ros2_sdk_linux-x86_64-gcc11 in the ~/ros2_ws/sec folder, you need to add the following command to ~/.bashrc.

Note: If you downloaded the SDK for the aarch64 environment, the corresponding name should be changed to slamware_ros2_sdk_linux-aarch64-gcc11.

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export LD_LIBRARY_PATH=~/aurora_ros-ros2/src/aurora_remote_public/lib/linux_x86_64:$LD_LIBRARY_PATH

3.5 Starting the Graph Node

Virtual Machine Version:

Open the virtual machine provided in the documentation. If the Aurora device is in AP mode, connect to the Aurora hotspot. If not in AP mode, a direct network cable connection is required. Run the following command in the terminal:

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ros2 launch slamware_ros_sdk slamware_ros_sdk_server_and_view.xml ip_address:=192.168.11.1

Orin Nano version:

If the Aurora device is in AP mode, connect to the Aurora hotspot. If not in AP mode, connect directly via Ethernet cable.** Run the following command in the terminal (an external display is required for operation).**

To experience the latest features, repeat sections 3.1, 3.2, and 3.3 to download the latest feature package, compile it, and run it.

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ros2 launch slamware_ros_sdk slamware_ros_sdk_server_and_view.xml ip_address:=192.168.11.1

Raspberry Pi 5, X5, Jetson Nano version:

Wiring diagram:

For the Raspberry Pi desktop version, Jetson Nano, or Jetson X5 desktop versions, 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 following in 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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ros2 launch slamware_ros_sdk slamware_ros_sdk_server_and_view.xml ip_address:=192.168.11.1

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