rbonghi / isaac_ros_realsense_example

Example use case from isaac_ros_template

🍏 Isaac ROS Template

Example fork from Isaac ROS template to use Isaac ROS vslam with a realsense camera

Test this example

You need:

• NVIDIA Jetson
  • NVIDIA Jetson AGX Xavier
  • NVIDIA Jetson Xavier NX
  • NVIDIA Jetson Nano (4Gb or 2Gb)
• NVIDIA Jetpack 4.6.1

How is changed

There are three parts on this template to edit:

1. Dockerfile
2. 01_isaac_ros.rosinstall
3. 02_your_ros2_pkgs.rosinstall

Let's move step by step and learn where you need to change

Dockerfile

There are few changes in this Dockerfile

(Stage 4) Install your ROS2 dependecies

Added realsense driver dependency

# Install Realsense
RUN apt-get update && \
    apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE && \
    add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u && \
    apt-get install -y rsync librealsense2-utils librealsense2-dev && \
    rm -rf /var/lib/apt/lists/*

Clone realsense ros2 repository in (stage 5)

RUN cd ${ROS_WS}/src && \
    git clone --depth 1 --branch `git ls-remote --tags https://github.com/IntelRealSense/realsense-ros.git | grep -Po "(?<=tags/)3.\d+\.\d+" | sort -V | tail -1` https://github.com/IntelRealSense/realsense-ros.git

01_isaac_ros.rosinstall

Added Isaac ROS packages in rosinstall file

- git:
    local-name: isaac_ros_image_pipeline
    uri: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline.git
- git:
    local-name: isaac_ros_visual_slam
    uri: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam.git

Build Isaac ROS Docker image

bash build_image.bash isaac_ros_realsense

Run You Isaac ROS docker container

docker run --rm --network host --privileged isaac_ros_realsense:latest

Debug your container

docker run --rm --network host -it isaac_ros_realsense:latest bash

Reference

• NVIDIA Isaac
• NVIDIA Isaac ROS GEMs
• NVIDIA Isaac ROS GEMs repositories
• NVIDIA Jetson
• NVIDIA Jetson containers
• NVIDIA Jetpack

Developer blog posts and webinars:

• Integrating Isaac ROS Visual Odometry GEM on Jetson
• Isaac ROS tutorial Many examples to build your own docker for Isaac ROS
• Designing Robots with NVIDIA Isaac GEMs for ROS
• Isaac ROS template

Robot example with Isaac ROS:

• nanosaur.ai
• nanosaur architecture
• nanosaur_perception GPU accelerated repository