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Tutorial For RealSense-based Reconstruction

This tutorial demonstrates how to perform depth-camera based reconstruction using a Realsense camera, NVIDIA VSLAM, and nvblox.

Note: This tutorial has been tested with a Realsense D455/D435 camera connected to an x86 computer with an NVIDIA graphics card, as well as a Jetson Xavier AGX.

Installing the Dependencies

  1. Complete steps 1, 2, and 3 described in the quickstart guide to clone isaac_ros_common and isaac_ros_nvblox and to build librealsense as part of the Docker container.

  2. Complete the RealSense setup tutorial.

  3. Download the code for Isaac ROS Visual SLAM.

     git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam.git

  4. Launch the Docker container using the run_dev.sh script:

    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
  ./scripts/run_dev.sh

  5. Inside the container, install package-specific dependencies via rosdep:

    cd /workspaces/isaac_ros-dev/ && \
    rosdep install -i -r --from-paths src --rosdistro humble -y --skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv nvblox"

  6. Build and source the workspace:

    cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install && \
  source install/setup.bash

Running the Example

To run the example, source the workspace:

source /workspaces/isaac_ros-dev/install/setup.bash

Then run the launch file, which launches the example:

ros2 launch nvblox_examples_bringup nvblox_vslam_realsense.launch.py

Here is a few seconds of the result from running the example:

Troubleshooting

See our troubleshooting page here.