Best 3D camera for Isaac ROS2

Autonomous Machines Robotics - Isaac Isaac SDK
2

  1. The RealsenseCamera package in Isaac SDK 2020.2 works with the D435 but does not support exposing the IMU in the D435i nor the D455 yet. The codelet (sdk/packages/realsense/RealsenseCamera.cpp) just wraps the Intel Realsense SDK, so you can enhance it until we add it and get it certified in a later Isaac SDK release.

  2. Isaac SDK 2020.2 does not have a package to support the Orbbec Astra Pro yet. We will consider it for a future release, but as with the RealSense camera support, you can write your own codelet if you prefer.

  3. The Isaac SDK 2020.2 navigation stack does rely on laser scans from a LiDAR, but others have been working on deriving a laser scan from a depth image from Realsense and feeding that through (see here). In theory, it should work but with degraded performance.