SLAMTEC Aurora Remote SDK and Demo

(中文版点此)

This repository contains the Demo code and project skeleton for using the SLAMTEC Aurora Remote SDK.

Prerequisites

• SLAMTEC Aurora Device
• WiFi or Ethernet connection between the device and the host machine

Prerequisites for Building

• CMake 3.12 or above
• C++14 Compiler (gcc 7.5 or above, MSVC 2019 or above, clang 8 or above)
• Pure C can be compiled with any C compiler that supports C11 (but C++ wrapper is not supported)
• OpenCV 4.2 or above (if you want to compile the demo that uses OpenCV)

About the Remote SDK and SLAMWARE SDK

• The Remote SDK is a standalone library that can be used to retrieve data specific to SLAMTEC Aurora, such as point cloud, map, and odometry.
• The SLAMWARE SDK is a more general purpose library that can be used to control all SLAMTEC products, such as the SLAMKIT, SLAMWARE, Apollo Robot Platforms, A1/A2/A3 series, and also provides higher level APIs for tasks like mapping, localization, and navigation.
• Currently, if you want to retrieve 3D point cloud data from SLAMTEC Aurora, you need to use the Remote SDK.
• For future SLAMWARE SDK releases, we will add APIs for Aurora in the SLAMWARE SDK.

Have you tried the SLAMTEC Official Tool?

We are highly recommend you to use the SLAMTEC Official Tool first for better evaluation and development experience.

• Aurora Remote App
• RoboStudio

They can be downloaded from the following links:

• SLAMTEC Aurora Website / (中文版点此)
• RoboStudio

API Reference of the Remote SDK

• Remote SDK API Reference This is the API reference for the Remote SDK. It contains the function prototypes, parameter descriptions, and return values for all the functions in the Remote SDK.

Steps to build the Demos

1. Clone the repository and its submodules:

   git clone --recurse-submodules https://github.com/Slamtec/aurora_remote_sdk_demo.git
   
   

2. (optional) Install the dependencies for the demo that uses OpenCV:

   e.g. on Ubuntu:

   sudo apt-get install -y libopencv-dev
   

3. Build the demos with CMake.

   # navigate to source directory
   mkdir build
   cd build
   cmake ..
   make
   

4. Run the demo.

How to deploy the SDK on target machines

• The precompiled libraries only depend on the C++ standard library, so it can be deployed on any machine that supports C++14.
• For Linux platforms, also make sure the glibc version is 2.31 or above.

About the Demos

map_render

• This demo shows how to render the map data from the Aurora device.
• It will subscribe the map data, keyframe data, and map point data from the device, and render the map, keyframes, and map points on the screen.
• The map will be rendered in the vertical view, and the keyframes will be rendered on the map.
• Opencv is required for this demo.

frame_preview

• This demo shows how to subscribe the tracking frame and raw camera image from the Aurora device.
• Opencv is required for this demo.

simple_pose

Aurora SDK Version: 1.1.0-rc1
Device connection string not provided, try to discover aurora devices...
Waiting for aurora devices...
Found 1 aurora devices
Device 0
  option 0: tcp/[fe80::ad94:89de:cef2:dcb4]:7447
  option 1: tcp/192.168.1.212:7447
Selected first device: 
Connecting to the selected device...
Connected to the selected device
Current pose: 0, 0, 0 Euler: 0, 0, 0
Current pose: -33.4066, 72.7162, 0.946953 Euler: -1.55303, -0.0350474, -0.506329
Current pose: -33.3551, 72.8021, 0.941662 Euler: -1.5259, -0.0374291, -0.504501
Current pose: -33.3551, 72.8021, 0.941662 Euler: -1.5259, -0.0374291, -0.504501
Current pose: -33.2553, 72.9822, 0.962029 Euler: -1.49077, -0.0652254, -0.45777
Current pose: -33.2125, 73.0723, 0.976967 Euler: -1.52022, -0.0478041, -0.425694
Current pose: -33.1693, 73.1591, 0.983566 Euler: -1.54432, -0.0495824, -0.389488
Current pose: -33.1236, 73.2395, 0.972832 Euler: -1.51365, -0.0605495, -0.412273

• This demo shows how to get the current pose from the Aurora device.

vslam_map_saveload

Defaulting to download
Trying to discover and select aurora device...
Found 1 aurora devices
Device 0
  option 0: tcp/[fe80::ad94:89de:cef2:dcb4]:7447
  option 1: tcp/192.168.1.212:7447
Selected first device: 
Downloading vslam map to auroramap.asb
Downloading vslam map 6.67%

• This demo shows how to save and load the map from the Aurora device.
• It can be used as a command line tool to save and load the map.

imu_fetcher

IMU Data: Accel: -0.941162, 0.406982, -0.0390625 Gyro: 1.95312, 4.08936, -1.2207
IMU Data: Accel: -0.9375, 0.407593, -0.0388184 Gyro: 2.2583, 3.84521, -1.64795
IMU Data: Accel: -0.936646, 0.407715, -0.0360107 Gyro: 2.68555, 3.35693, -2.19727
IMU Data: Accel: -0.934448, 0.405762, -0.0372314 Gyro: 2.86865, 3.11279, -2.62451
IMU Data: Accel: -0.933716, 0.40686, -0.0350342 Gyro: 3.05176, 2.80762, -2.74658
IMU Data: Accel: -0.934082, 0.406494, -0.0325928 Gyro: 3.11279, 2.74658, -2.62451
IMU Data: Accel: -0.938843, 0.407959, -0.0310059 Gyro: 3.11279, 2.99072, -2.44141
IMU Data: Accel: -0.936157, 0.406006, -0.0313721 Gyro: 3.23486, 3.23486, -2.31934
IMU Data: Accel: -0.938721, 0.402832, -0.026123 Gyro: 3.35693, 3.54004, -2.0752
IMU Data: Accel: -0.936279, 0.403931, -0.0252686 Gyro: 3.17383, 3.78418, -2.01416
IMU Data: Accel: -0.936768, 0.40332, -0.0247803 Gyro: 3.05176, 4.02832, -1.77002

• This demo shows how to subscribe the IMU data from the Aurora device.

pure_c_demo

• This demo shows how to use the Aurora Remote SDK in pure C code.