ISAAC Sim 5. isaac_ros_nvblox

isaac_ros_nvblox — isaac_ros_docs documentation

1. 安装

在本机环境中运行命令下载附件:

NGC_ORG="nvidia"
NGC_TEAM="isaac"
NGC_RESOURCE="isaac_ros_assets"
NGC_VERSION="isaac_ros_nvblox"
NGC_FILENAME="quickstart.tar.gz"

REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/versions/$NGC_VERSION/files/$NGC_FILENAME"

mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets/${NGC_VERSION} && \
    curl -LO --request GET "${REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets/${NGC_VERSION} && \
    rm ${NGC_FILENAME}

随后进入src，clone：

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

打开ISAAC Sim 4. 配置Isaac ROS Dev 和 Isaac Perceptor-CSDN博客配置的docker container。

Use rosdep to install the package’s dependencies.

rosdep update
rosdep install -i -r --from-paths /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/ --rosdistro humble -y

build：

cd /workspaces/isaac_ros-dev
colcon build --symlink-install --packages-up-to isaac_ros_nvblox
source install/setup.bash

2. 测试

2.1. play rosbag

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False

2.2. run with Isaac Sim

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py

2.3. run with a RealSense camera

cd ${ISAAC_ROS_WS}/src/isaac_ros_nvblox/nvblox_examples/realsense_splitter && \
    git update-index --assume-unchanged COLCON_IGNORE && \
    rm COLCON_IGNORE

进入container构建realsense_splitter和realsense2*

cd /workspaces/isaac_ros-dev
colcon build --symlink-install --packages-up-to-regex realsense*
source install/setup.bash

RealSense Issues — isaac_ros_docs documentation