Customize Nvblox_examples_bringup

Omniverse Isaac Sim
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1

Hi i’ve been running the nvblox example without any problems

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py

Now I am trying to run the example with another robot in Isaac sim.

I have done the following remaping, but nvblox doesn’t show up in rviz2. The uncommented section works with the Carter robot.

# def get_isaac_sim_remappings(lidar: bool) -> List[Tuple[str, str]]:
#     remappings = []
#     camera_names = ['front_stereo_camera']
#     for i, name in enumerate(camera_names):
#         remappings.append((f'camera_{i}/depth/image', f'{name}/depth/ground_truth'))
#         remappings.append((f'camera_{i}/depth/camera_info', f'{name}/left/camera_info'))
#         remappings.append((f'camera_{i}/color/image', f'{name}/left/image_raw'))
#         remappings.append((f'camera_{i}/color/camera_info', f'{name}/left/camera_info'))
#     if lidar:
#         remappings.append(('pointcloud', '/front_3d_lidar/point_cloud'))
#     return remappings

def get_isaac_sim_remappings(lidar: bool) -> List[Tuple[str, str]]:
    remappings = []
    camera_names = ['isaac/camera']
    for i, name in enumerate(camera_names):
        remappings.append((f'camera_{i}/depth/image', f'{name}_depth'))
        remappings.append((f'camera_{i}/depth/camera_info', f'{name}_camera_info'))
        remappings.append((f'camera_{i}/color/image', f'{name}_rgb'))
        remappings.append((f'camera_{i}/color/camera_info', f'{name}_camera_info'))
    if lidar:
        remappings.append(('pointcloud', '/isaac/point_cloud'))
    return remappings

Is there other parameters that should be changed?

Best Regards,
Kasper

3

Hi @kasperamhansen ! Have you checked if the topic names are aligned with the Isaac Sim Scene? If you use a different robot, I assume the camera is at a different height from carter robot. Have you adjusted nvblox parameters for your robot?

4

Hi @zhengwang

The topics are aligned, and I can see that there are publishers and subscribers for each topic.

I have not adjusted the nvblox parameters for my robot, would this be a cause for no data to be published from nvblox? Or only to get some distorted data?

My Cameras are set up with this guide

5

I’ve noticed this topic appears when I run the example, but it doesnt when I run it on my own robot.

/nvblox_node/back_projected_depth/front_stereo_camera_left_optical

6

I’ve created the cameras with the graphs instead:

That made it work :D

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