Intrinsic SDK for ROS

The Intrinsic SDK for ROS is a wrapper of the Intrinsic SDK that allows for software developers to write ROS-based workflows that work with Flowstate, a web-based tool to build robot solutions from concept to deployment.

The Intrinsic SDK for ROS is compatible with ROS 2 Jazzy Jalisco.

In addition to this Intrinsic SDK for ROS repository, there are also:

• ROS-based SDK Examples
• The Intrinsic SDK
• Intrinsic SDK examples
• Dev container project template

Getting Started

Clone this repository into your ROS workspace.

cd ~/intrinsic_ws/src # Replace with source directory to your workspace.
git clone https://github.com/intrinsic-ai/sdk-ros.git

Source ROS and build the SDK.

source /opt/ros/jazzy/setup.bash
cd ~/intrinsic_ws/
colcon build \
  --cmake-args -DCMAKE_BUILD_TYPE=Release \
  --event-handlers=console_direct+

Using the SDK in Python

To use the SDK in Python, you must additionally create a virtualenv and install a few dependencies which are not provided by the SDK, nor are the ones available in Ubuntu's apt new enough.

For example, you could:

# Setup the venv and activate it
python3 -m venv --system-site-packages venv
source ./venv/bin/activate
# Install the new dependencies
# (venv)
pip install -U grpcio protobuf retrying
# Test that it is working
# (venv)
python3 -c 'from intrinsic.world.python.object_world_client import ObjectWorldClient'

Building and packaging the flowstate_ros_bridge

See Building the flowstate_ros_bridge bundle for more details on how to build and package the bridge.