Software Stack
The figure shows the overall software stack of the Advantech Robotic Suite for AFE-R360.
AMR SDK
Planning
| Application
|
Description
|
Reference
|
| 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.
|
http
|
| 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.
|
http
|
Visual Perception
| Application
|
Description
|
Reference
|
| 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.
|
Github
|
Sensing Perception
| Application
|
Description
|
Reference
|
| IMU Tools
|
A set of utilities for processing and visualizing data from Inertial Measurement Units (IMUs), which provide orientation, acceleration, and angular velocity information.
|
Github
|
SLAM
| Application
|
Description
|
Reference
|
| RTAB-Map
|
Real-Time Appearance-Based Mapping (RTAB-Map) is a graph-based SLAM (Simultaneous Localization and Mapping) algorithm that creates 3D maps using visual, depth, and sensor data.
|
Github
|
| Cartographer
|
A real-time SLAM algorithm developed by Google that enables robots to build 2D and 3D maps of their environment using laser and odometry data.
|
Doc
Github
|
| 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.
|
Github
|
| LIO-SAM
|
Lidar-Inertial Odometry via Smoothing and Mapping (LIO-SAM) is a state-of-the-art SLAM system that fuses LiDAR and IMU data to produce accurate, high-frequency odometry and maps.
|
Github
|
Navigation /Localization
| Application
|
Description
|
Reference
|
| 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.
|
http
|
| 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.
|
http
|
| 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.
|
http
|
| 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.
|
http
|
| Obstacle Avoidance
|
A core robotics capability where sensors and algorithms work together to detect and navigate around obstacles, ensuring safe and collision-free movement.
|
http
|
