How to support new cameras for isaac-ros-nvblox

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,

I want to use an Orbbec Femto Bolt camera with isaac-ros-nvblox, however, I did not find any documentation on how to add a new camera? Would it be possible to help me understand the procedure?

Thanks in advance!

2

It seems like all that needs to be done is to make sure that the following topics are being remapped: ROS Topics and Services — isaac_ros_docs documentation.

So what I did was:

  • add NvbloxCamera.orbbec in /workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox_ros_python_utils/nvblox_ros_python_utils/nvblox_launch_utils.py
  • copy the launch file from zed_example.launch.py and change all mentions of NvbloxCamera.zedx to NvbloxCamera.orbbec
  • add a .rviz file for orbbec and add it to visualization/rviz.launch.py similar to what they have for the zed camera
  • inside perception/nvblox.launch.py add support for orbbec similar to what they have for the zed camera
  • add a config/nvblox/specializations/nvblox_orbbec.yaml config file

After these files were added, we can rebuild the workspace and run the ROS 2 launch file

colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release --symlink-install
source install/setup.bash
ros2 launch nvblox_examples_bringup orbbec_example.launch.py
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