SDK

The AI Accelerator SDK lets you build your own AI applications based on technology from Universal Robots and NVIDIA

Warning

This guide assumes that you have upgraded the software on the compute module to 2.0.5

Setup of the SDK

The SDK sets up a docker image with all required components (NVIDIA Isaac Manipulator and other 3rd party tools) required to run the included example demo applications. The AI Accelerator will need to be connected to the internet for this installation process and you will need to connect keyboard, mouse, and display to the compute module.

Warning

In this version of the AI Accelerator Software the IP Address of the compute box is fixed to 192.168.0.100, if this is changed the system will not function correctly. This requirement will be relaxed in a future version.

On the robot

  1. Open Settings

  2. Navigate to Secure Shell

  3. Enable SSH access

  4. Navigate to Services

  5. Enable ROS2, tap the input box and select a ROS domain ID greater than 0 (1-5) remember this value so you can configure the compute box on the same domain.

  6. Navigate to Network and configure an IP address in the same range as the compute box (192.168.0.x) with subnet mask 255.255.255.0.

On the compute module

  1. Make sure your robot is powered on and on the same network as the compute module before continuing

  2. Open a terminal

  3. Run sudo apt update

  4. Run sudo apt install chrony sshpass

  5. Insert the usb with aia-sdk-VERSION.deb file

  6. Install with sudo dpkg -i PATH/aia-sdk-VERSION.deb

  7. When prompted if you want to setup time sync, answer y

  8. When prompted, input the IP address of the robot. Default is 192.168.0.10

  9. When prompted, input the password for the robot

  10. When prompted, input the password for the compute module

  11. When prompted, reboot the robot

  12. On the robot teach pendant click the hamburger menu in the top left corner of Polyscope X and choose about to view the serial number. Enter your robot serial number in ~/aia_sdk/ros/config/config.yaml prepended with UR - eg UR20255500010.

  13. In the same config.yaml file on the AI Accelerator, make sure the ros_domain_id matches the domain that you have chosen in the Polyscope X settings when enabling ROS2 communications.

  14. In the same config.yaml file on the AI Accelerator, make sure the robot_type model of robot you will be using - eg ur5e.

  15. Run cd ~/aia_sdk/ros

  16. Run ./scripts/run_sdk_setup.sh

After downloading and setting everything up, the SDK will start. On subsequent runs the same script should be used to enter the docker container, but it will skip these setup steps if they have previously been executed.

You are now ready to run the examples and use the tools. Note: all of these must be executed from within the SDK docker container, that is entered by running ./scripts/run_sdk_setup.sh

You can find example polyscope programs in ~/aia_sdk/polyscope/programs that can be saved on a USB disk and imported in Polyscope X