msardonini / oakd_isaac_ros

An implementation of Isaac VIO and SLAM using the OakD stereo camera and imu

OakD Isaac ROS

An implementation of Isaac VIO and SLAM using the OakD stereo camera and imu

Video Demo

Note: This project is still under development. Optimizations for camera calibration, and IMU integration are still being developed. Provided here is a short video demo of how the project is progressing.

Docker

This implementation is intended to be run using the ROS docker system Nvidia provides here.

To build and run the docker images, the provided script can be used. This script adds OakD support to the existing docker system provided by Nvidia.

./run_docker.sh

Launch Visual SLAM

Plug in the camera via USB3. Inside the docker container, launch the applications to read sensor data and process Elbrus SLAM

ros2 launch oakd_s2 oakd_s2.launch.py

To visualize output with Rviz, open a new termal in the container with the run_docker.sh script, the run

./rviz.sh