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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.

Tech Support & Product Discussion​

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