Advantech Robotic Suite/Robotic System/AMR SDK - Revision history

Ray.zheng at 03:16, 10 June 2025

2025-06-10T03:16:29Z

Ray.zheng at 08:34, 6 June 2025

2025-06-06T08:34:17Z

Ray.zheng at 08:29, 6 June 2025

2025-06-06T08:29:16Z

Ray.zheng at 08:25, 6 June 2025

2025-06-06T08:25:57Z

Ray.zheng at 08:19, 6 June 2025

2025-06-06T08:19:18Z

Ray.zheng at 08:09, 6 June 2025

2025-06-06T08:09:53Z

Ray.zheng at 08:03, 6 June 2025

2025-06-06T08:03:43Z

Ray.zheng at 08:02, 6 June 2025

2025-06-06T08:02:36Z

Ray.zheng at 07:47, 6 June 2025

2025-06-06T07:47:47Z

Ray.zheng at 07:00, 6 June 2025

2025-06-06T07:00:42Z

@@ Line 1: / Line 1: @@
 __NOTOC__
-= Introduce =
+= Introduction =
 <big>Advantech Robotic Suite offers five main categories of ROS2 services specifically designed for AMR applications, helping users accelerate development. These services include a variety of applications, algorithms and reference documentation to support efficient integration and deployment.</big>

@@ Line 1: / Line 1: @@
 __NOTOC__
 = Introduce =
-<big>Robotic Suite offers five main categories of ROS2 services designed specifically for AMR applications.</big>
+<big>Advantech Robotic Suite offers five main categories of ROS2 services specifically designed for AMR applications, helping users accelerate development. These services include a variety of applications, algorithms and reference documentation to support efficient integration and deployment.</big>
 == Planning ==

@@ Line 1: / Line 1: @@
 __NOTOC__
-<big>Robotic Suite provides 5 major categories of ROS2 services for AMR applications:</big>
+= Introduce =
 == Planning ==
 <div style="overflow-x:auto;">

@@ Line 1: / Line 1: @@
-= Planning =
+__NOTOC__
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 16: / Line 18: @@
 </div>
-= Visual Perception =
+== Visual Perception ==
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 29: / Line 31: @@
 </div>
-= Sensing Perception =
+== Sensing Perception ==
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 42: / Line 44: @@
 </div>
-= SLAM =
+== SLAM ==
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 67: / Line 69: @@
 </div>
-= Navigation /Localization =
+== Navigation /Localization ==
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"

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-__NOTOC__
+= Planning =
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 22: / Line 16: @@
 </div>
-== Visual Perception ==
+= Visual Perception =
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 35: / Line 29: @@
 </div>
-== Sensing Perception ==
+= Sensing Perception =
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 48: / Line 42: @@
 </div>
-== SLAM ==
+= SLAM =
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"
@@ Line 73: / Line 67: @@
 </div>
-== Navigation /Localization ==
+= Navigation /Localization =
 <div style="overflow-x:auto;">
 {| class="wikitable" style="width:90%;"

@@ Line 64: / Line 64: @@
 |-
 | SLAM Toolbox
-| A collection of SLAM algorithms and tools for lifelong mapping and localization, supporting online and offline map building, pose-graph optimization, and loop closure.
+| A collection of SLAM algorithms and tools for mapping and localization, supporting online and offline map building, pose-graph optimization, and loop closure.
 | [https://github.com/SteveMacenski/slam_toolbox Github]
 |-

@@ Line 4: / Line 4: @@
 [[File:Robotic-suite-sw-stack-amr-01.png|center|1000px]]
-= AMR SDK =
+= Open Source =
 == Planning ==
 <div style="overflow-x:auto;">

@@ Line 13: / Line 13: @@
 |-
 | Waypoint Following
-| A navigation approach where the robot is guided through a series of predefined locations (waypoints), ensuring it follows a specific path or route accurately.
+| Within Nav2, waypoint following is a feature that allows a robot to autonomously navigate through a series of specified points (waypoints) in sequence. It leverages the navigation stack’s planning and control capabilities to ensure accurate and reliable traversal of a given route.
-| http
+| [https://github.com/ros-navigation/navigation2/tree/main/nav2_waypoint_follower Doc]
 |-
 | Path Planning
-| A fundamental robotics technique that calculates an optimal or feasible path for a robot to move from a start point to a goal point while avoiding obstacles.
+| Path planning in Nav2 refers to the process where the navigation stack computes a feasible and efficient path from the robot’s current location to its target destination. This process considers the environment’s obstacles and robot’s kinematics, using built-in planning algorithms.
-| http
+| [https://github.com/ros-navigation/navigation2/tree/main/nav2_planner Doc]
 |}
 </div>
@@ Line 30: / Line 30: @@
 |-
 | Barcode Recognition
-| Basic ROS 2 wrapper for the zbar barcode reader library. Reads image stream from image topic, and outputs detected barcodes to barcode topic. Works with 1D and 2D barcodes.
+| Basic ROS2 wrapper for the zbar barcode reader library. Reads image stream from image topic, and outputs detected barcodes to barcode topic. Works with 1D and 2D barcodes.
 | [https://github.com/ros-drivers/zbar_ros Github]
 |}
@@ Line 81: / Line 81: @@
 |-
 | Navigation 2
-| A ROS 2 framework that provides a complete set of navigation features, including localization, path planning, and control, for autonomous robot movement in dynamic environments.
+| A ROS2 framework that provides a complete set of navigation features, including localization, path planning, and control, for autonomous robot movement in dynamic environments.
-| http
+| [https://docs.nav2.org/ Doc]<br>[https://github.com/ros-navigation/navigation2 Github]
 |-
 | Robot Localization
-| A ROS package that fuses data from various sensors (e.g., GPS, IMU, odometry) to provide accurate state estimation of a robot’s position and orientation.
+| A ROS2 package that fuses data from various sensors (e.g., GPS, IMU, odometry) to provide accurate state estimation of a robot’s position and orientation.
-| http
+| [https://docs.ros.org/en/melodic/api/robot_localization/html/index.html Doc]<br>[https://github.com/cra-ros-pkg/robot_localization Github]
 |-
 | Hybrid A*
-| An advanced path planning algorithm that combines the flexibility of A* search with continuous motion primitives, enabling smooth and feasible paths for wheeled robots.
+| Hybrid A* is one of the path planning algorithms integrated in Nav2. It enhances traditional A* by considering the robot's motion constraints and continuous state space, making it suitable for robots that require smooth and realistic paths, especially non-holonomic vehicles.
-| http
+| [https://github.com/ros-navigation/navigation2/tree/main/nav2_navfn_planner Doc]
 |-
 | Dijkstra
-| A classic graph-based algorithm used for finding the shortest path between nodes, widely used in robotics for global path planning due to its completeness and optimality.
+| Dijkstra’s algorithm, available within Nav2’s planning plugins, is used to find the shortest path in a grid map from start to goal. It guarantees the optimal solution and serves as a robust global planner for route generation in the navigation stack.
-| http
+| [https://github.com/ros-navigation/navigation2/tree/main/nav2_navfn_planner Doc]
 |-
 | Obstacle Avoidance
-| A core robotics capability where sensors and algorithms work together to detect and navigate around obstacles, ensuring safe and collision-free movement.
+| Obstacle avoidance in Nav2 is handled by its local planner and costmap modules. These components work together to detect obstacles in real time and dynamically adjust the robot’s path, ensuring safe navigation even in changing environments.
-| http
+| [https://github.com/ros-navigation/navigation2/tree/main/nav2_collision_monitor Doc]
 |}
 </div>

@@ Line 1: / Line 1: @@
-{{DISPLAYTITLE:AMR SDK}}
+__NOTOC__
+= Software Stack =
 [[File:Robotic-suite-sw-stack-amr-01.png|center|960px|Robotic-suite-sw-stack-amr-01.png]]