This document lists the commands to deploy and run the applications for BMW STR v4.
Startup Script
No matter which application is deployed, the following command needs to be run once after the app is deployed:
fayrouz@xworks:~/deploy/oguz/bmw_str4-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_startup.sh
Cart Delivery
This application is the cart delivery demo.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_demo_launcher-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks: ./run packages/bmw/str_fof/apps/bmw_str4_demo_launcher.py
Autonomous Navigation
This application can be used to test autonomous navigation.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4-pkg$ ./packages/bmw/str_fof/apps/bmw_str4 --more packages/cart_delivery/apps/navigation.config.json,<map_json>
If the map_json is split into two files, <map_json>.graph.json and <map_json>.config.json, then you need to run the following command:
fayrouz@xworks:~/deploy/oguz/bmw_str4-pkg$ ./packages/bmw/str_fof/apps/bmw_str4 --more packages/cart_delivery/apps/navigation.config.json --graph <map_json>.graph.json --config <map_json>.config.json
Mapping
This application can be used to map an environment.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_gmapping-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4_gmapping-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_gmapping
Camera
This application runs LIPS AE400 camera only.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_camera-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4_camera-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_camera
Perception
This application estimates the pose of dollies.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_perception-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4_perception-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_perception --more packages/bmw/str_fof/apps/detection_pose_estimation_hardware.config.json
No matter which application is deployed, the following command needs to be run once after the app is deployed:
fayrouz@xworks:~/deploy/oguz/bmw_str4-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_startup.sh
This application is the cart delivery demo.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_demo_launcher-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks: ./run packages/bmw/str_fof/apps/bmw_str4_demo_launcher.py
This application can be used to test autonomous navigation.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4-pkg$ ./packages/bmw/str_fof/apps/bmw_str4 --more packages/cart_delivery/apps/navigation.config.json,<map_json>
If the map_json is split into two files, <map_json>.graph.json and <map_json>.config.json, then you need to run the following command:
fayrouz@xworks:~/deploy/oguz/bmw_str4-pkg$ ./packages/bmw/str_fof/apps/bmw_str4 --more packages/cart_delivery/apps/navigation.config.json --graph <map_json>.graph.json --config <map_json>.config.json
This application can be used to map an environment.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_gmapping-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4_gmapping-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_gmapping
This application runs LIPS AE400 camera only.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_camera-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4_camera-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_camera
This application estimates the pose of dollies.
To deploy the application, run the following command from within the Isaac SDK folder:
bob:~/isaac/sdk$ ./../engine/engine/build/deploy.sh -p //packages/bmw/str_fof/apps:bmw_str4_perception-pkg -h <robot_IP> -d jetpack45 --remote_user fayrouz
Then, SSH into the robot to run the application:
fayrouz@xworks:~/deploy/oguz/bmw_str4_perception-pkg$ ./packages/bmw/str_fof/apps/bmw_str4_perception --more packages/bmw/str_fof/apps/detection_pose_estimation_hardware.config.json