Examples

Warning

The AI Accelerator requires ROS 2 Humble, so PolyScope X 10.12.1 is the latest compatible release. PolyScope X 10.13 and later use ROS 2 Jazzy and are not currently supported.

This section contains practical examples and demos for the AI Accelerator platform.

Note

Complete the SDK setup first and confirm the compute module is on 2.x. All examples use the same pattern:

1. What you need — prerequisites

2. Steps — enter the SDK container, launch the example script, configure PolyScope, verify

Run everything from inside the SDK Docker container (cd ~/aia_sdk/ros then ./scripts/run_sdk_setup.sh).

Example PolyScope programs: ~/aia_sdk/polyscope/programs.

Suggested order if you are new to the platform:

1. AprilTag Detection

2. Classification or Detection (use Auto Annotation for detection datasets)

3. Pose Estimation

4. Path Planning Basic → Path Planning Advanced

5. Dynamic Picking (combines pose estimation and path planning)

In v2 each example has its own launch script. Prefer those over the older v1 scripts/run_ark.sh, which starts every example’s nodes at once.

• AprilTag Detection
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Launch the AprilTag example
    • Step 3 — (Optional) Enable continuous detection
    • Step 4 — Run the PolyScope program
    • Step 5 — Confirm detections
  • Related
• Classification
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Launch classification
    • Step 3 — Collect training images
    • Step 4 — Train the model
    • Step 5 — Test in the Console UI
    • Step 6 — Run the PolyScope program
  • Improving accuracy
  • Related
• Detection
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Create the dataset and train
    • Step 3 — Load the model
    • Step 4 — Test detection
    • Step 5 — Run the PolyScope program
  • Related
• Pose Estimation
  • How it works
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Train the detector
    • Step 3 — Prepare a textured mesh
    • Step 4 — Point the launch file at your mesh
    • Step 5 — Launch pose estimation
    • Step 6 — Configure the PolyScope program
    • Step 7 — Teach waypoints and run
  • Common issues
  • Related
• Path Planning Basic
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Open RViz (recommended before launch)
    • Step 3 — Launch path planning
    • Step 4 — Align the collision model with the real scene
    • Step 5 — Configure and run the PolyScope program
  • Related
• Path Planning Advanced
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Configure the robot type
    • Step 3 — Configure and visualize collision models
    • Step 4 — Start the path planning system
    • Step 5 — Configure the joint limits
      • Manually editing the joint limits
      • Changing the joint limits with ROS2 service
    • Step 6 — Use path planning from PolyScope
      • Single shot planning
      • Object attachment
  • Common issues
    • IK_FAIL
    • INVALID_START_STATE_JOINT_LIMITS
    • INVALID_START_STATE_WORLD_COLLISION or INVALID_START_STATE_SELF_COLLISION
    • GRAPH_FAIL
    • TRAJOPT_FAIL or FINETUNE_TRAJOPT_FAIL
  • Related
• Dynamic Picking
  • What you need
  • Steps
    • Step 1 — Enter the SDK container
    • Step 2 — Point the launch file at your mesh and collision model
    • Step 3 — Launch dynamic picking
    • Step 4 — Set joint limits
    • Step 5 — Load the PolyScope program and checkpoint
    • Step 6 — Teach frames and run
  • Related