Get Map From NVBLOX , Want to run Nav2 with this map and vslam

amarnathmahato109 · November 4, 2024, 5:39pm

Hello everyone,
My setup goes like this,
Device: Jetson Orin Nano
camera:realsense d455f

I followed the nvidia isaac ros document to get map from depth camera . I got the map but i have no idea how to proceed furthur with this map. I have no idea how to save this map and go for next step for nav2 . I was planning to run Isaac sim for simulation, but since its not supported on jetson orin i skipped it. My primary goal is the map i got from nvblox should be use for navigation. Please help me i have go through the developer forum and and even github discussion but i didnt find perfect answer.
Any leading help can be grateful.
Thank you in advance.

amarnath.m · November 7, 2024, 9:20am

Hi @Raffaello ,
I would be very grateful if you could help.

Best ,
Amarnath M

Raffaello · November 7, 2024, 1:11pm

Hi @amarnathmahato109

Welcome to the Isaac ROS forum!

I suggest to start with our demos, such an example with Isaac Sim

The Tutorial: Isaac Sim Examples — isaac_ros_docs documentation
You can find the launch code here (navigation argument or lines 60-68): isaac_ros_nvblox/nvblox_examples/nvblox_examples_bringup/launch/isaac_sim_example.launch.py at main · NVIDIA-ISAAC-ROS/isaac_ros_nvblox · GitHub

Isaac ROS Nvblox has a Nav2 plugin that shares the map directly. You can load a map from Nvblox, and Nav2 will also be able to use the same map.

Regarding vslam, you can use such an example the realsense demo: RealSense Camera Examples — isaac_ros_docs documentation

Github code: isaac_ros_nvblox/nvblox_examples/nvblox_examples_bringup/launch/realsense_example.launch.py at main · NVIDIA-ISAAC-ROS/isaac_ros_nvblox · GitHub

In this case the localization works with Isaac ROS vslam (line 63-73)

The best way is to make a new launch file starting from the realsense demo and add the nav2 launcher following the lines on the nova carter launch file:

github.com

NVIDIA-ISAAC-ROS/nova_carter/blob/main/nova_carter_navigation/launch/navigation.launch.py

# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

# flake8: noqa: F403,F405
import isaac_ros_launch_utils as lu
from isaac_ros_launch_utils.all_types import *

This file has been truncated. show original

github.com

NVIDIA-ISAAC-ROS/nova_carter/blob/main/nova_carter_navigation/launch/navigation.launch.py#L32-L42


      
          'nav2_bringup',
          'launch/navigation_launch.py',
          launch_arguments={
              # The parameters file here does not work correctly when using
              # composition. In addition to here it also has to be loaded with
              # `SetParameterFromFile` before the corresponding
              # component_container is added to the launch description.
              'params_file': args.navigation_parameters_path,
              'container_name': args.navigation_container_name,
              # NOTE: nav2 wants this parameter as a capitalized string.
              'use_composition': 'True',

Readapt also the nav2 configuration for your setup starting from: nova_carter/nova_carter_navigation/params/nova_carter_navigation.yaml at main · NVIDIA-ISAAC-ROS/nova_carter · GitHub

Best,
Raffaello

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Get Map From NVBLOX , Want to run Nav2 with this map and vslam

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