Isaac ROS Visual SLAM Deployment
Prerequisites
Before deploying Visual SLAM, ensure the Isaac ROS environment is properly set up on your ReComputer Installation Guide. If ROS2 is not installed, refer to this document.
1. Environment Configuration
Create Workspace (Skip if existing)
mkdir -p ~/workspaces/isaac_ros-dev/src
echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
source ~/.bashrc
Clone Visual SLAM Package
cd ${ISAAC_ROS_WS}/src
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam.git
Enter Docker Container
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
2. Testing with ROS Bag Data
Install Visual SLAM Package (Inside Docker)
sudo apt-get install -y ros-humble-isaac-ros-visual-slam
Launch Visual SLAM Node
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam.launch.py
Open RViz2 for Visualization
In a local terminal (outside Docker):
cd ${ISAAC_ROS_WS}/src
rviz2 -d isaac_ros_visual_slam/isaac_ros_visual_slam/rviz/default.cfg.rviz
Play Stereo Camera ROS Bag
In a third terminal:
cd ${ISAAC_ROS_WS}/src
ros2 bag play isaac_ros_visual_slam/isaac_ros_visual_slam/test/test_cases/rosbags/small_pol_test/
Expected Output:

Notes:
- Ensure ROS bag contains stereo camera images (left/right frames).
- Adjust RViz2 configuration as needed (e.g., map visualization, trajectory settings).
For troubleshooting, refer to the official documentation.
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