Isaac ROS 3.0.1 Nvblox run with vslam in Isaac Sim

[miguel.siebenhaar]

Hi,

I am trying to get Nvblox running with vslam in Isaac Sim in the new version Isaac ROS 3.0.1. However, with the new update from Isaac ROS 2.1 to 3.0 the possibility to use vslam with nvblox in Isaac sim has been removed. I tried to start the vslam node externally (Tutorial vslam in Isaac sim) and Nvblox (Tutorial Nvblox in Isaac Sim) at the same time. However, this does not work. I then re-implemented the missing vslam node in isaac_sim_example.launch.py". I have also adapted the remapping and the customisations. However, when starting the launch file I get the error: "Can't transform: map to odom. Error: Lookup would require extrapolation at time 2260.000118, but only time 2259.900118 is in the buffer, when looking up transform from frame [odom] to frame [map]".

How do I get Nvblox to run together with vslam in Isaac Sim? Will there soon be an update in which vslam is integrated into nvblox and Isaac sim again?

launch file:

own vslam_launch:

Error log:

in sample screen: localhost/NVIDIA/Assets/Isaac/4.0/Isaac/Samples/NvBlox/nvblox_sample_scene.usd

Can you please help me on this? Thank you!

[Raffaello]

Hi @miguel.siebenhaar

There is a demo mostly similar to the old one available on Isaac Perceptor

You can find it from the link below:
https://nvidia-isaac-ros.github.io/reference_workflows/isaac_perceptor/run_perceptor_in_sim.html

What is Isaac Perceptor?

Isaac Perceptor is a camera-based 3D perception system for mobile robots. It provides robust odometry together with local 3D scene reconstruction to enable autonomous navigation applications.

Let me know if I helped you.

Best,
Raffaello