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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:

  1. Ensure ROS bag contains stereo camera images (left/right frames).
  2. Adjust RViz2 configuration as needed (e.g., map visualization, trajectory settings).

For troubleshooting, refer to the official documentation.

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