Requirements

Note

Due to USB connection speed issues, running the software inside a virtual machine environment is not supported.

Minimum

To run SLAMcore software, the required hardware and OS specifications are:

x64

NVIDIA Jetson Nano, TX2, Xavier NX and AGX

OS

Ubuntu 18.04 or 20.04 *

JetPack >= 4.4.1, up to L4T 32.6.1

RAM

8GB

CPU

x64 (with AVX2)

6-core @1400MHz recommended (Power mode 2)

USB port

>3.0

Camera

RealSense D435i, RealSense D455, Mynteye S

* RealSense supports Ubuntu 20.04 for kernel versions up to 5.8 only.

An internet connection is required at the start of each session to access the SLAMcore software license.

The SLAMcore ROS Wrappers supports:

  • ROS1 Melodic on Ubuntu 18.04 or

  • ROS2 Foxy on Ubuntu 20.04 (locally installed, or with SLAMcore’s ROS2 docker)

ROS1 Visualisations

To run both SLAM and the ROS1 visualisations on the same system requires additional resources, we have tested this on a machine with the following hardware specification:

  • Core i7-7700HQ CPU @ 2.80GHz

  • 16GB of RAM

It is possible to run SLAM and ROS visualisations on separate, networked systems.

Recording Datasets

To record datasets they will need to be written to a drive capable of sustaining write speeds set out in the table below.

Write Speed (MB/s)

x64

NVIDIA Jetson Platforms

without depth

25

12.5

with depth

100

50