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tutorial-nvblox-vslam-realsense.md

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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.

Realsense Camera Firmware

This example is tested and compatible with realsense camera firmware version 5.13.0.50 which is available here.

Note: We experienced issues with the latest realsense firmware (version 5.14 at the time of publishing). It's possible at some point that this starts working, but our recommendation is to install exactly 5.13.0.50.

Host System Setup

We have found ROS2 message delivery to be unreliable under high load without some small modifications to the QoS profile (especially on weaker machines). Before running this example run

sudo sysctl -w net.core.rmem_max=8388608 net.core.rmem_default=8388608

However this only sets these parameters until reboot. To set them permanently run:

echo -e "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf

More details on DDS tuning can be found here.

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.