Isaac ros vslam 3.0 realsense example failing

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

I am trying to run the isaac ros vslam realsense example in the container from here.

I went through the setup process for the container and this is what the final setup looks like:
.isaac_ros_common-config:

CONFIG_IMAGE_KEY=ros2_humble.realsense.isaac

Dockerfile.isaac:

ARG BASE_IMAGE
FROM ${BASE_IMAGE}

RUN apt update && \
    apt install -y ros-humble-ros-gz-sim \
                    ros-humble-robot-localization \
                    ros-humble-ros-gz-bridge \
                    ros-humble-isaac-ros-examples \
                    ros-humble-isaac-ros-realsense \
                    ros-humble-isaac-ros-visual-slam

and when I go in the container and run

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_stereo_rect,visual_slam \
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json \
base_frame:=camera_link camera_optical_frames:="['camera_infra1_optical_frame', 'camera_infra2_optical_frame']"

then bringup rviz2 with:

rviz2 -d $(ros2 pkg prefix isaac_ros_visual_slam --share)/rviz/default.cfg.rviz

there are no video feeds shown in rviz, and as a result no vslam happening.

The video feeds seem to be published, just not on the topics specified in rviz (/right/image_rect and /left/image_rect) (and presumably for the vslam node), they are on the /realsense2_camera/infra1/image_rect_raw and /realsense2_camera/infra2/image_rect_raw topics.

Any suggestions as to how I can proceed to get the vslam working with realsense?

2

Hi @huzaifa1

Have you updated your setup to Isaac ROS 3.0.1? We just fixed a few things working with the RealSense camera. I’ll also redirect you to this page.

https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/sensors/realsense_setup.html

and check also our troubleshooting, because

Latest RealSense firmware (5.16.0.1) and librealsense (2.55.1) introduced breaking changes. Reverted to building supported versions from source

More details here to fix it:

https://nvidia-isaac-ros.github.io/troubleshooting/index.html

3

Updating to the latest isaac_ros_common and running similarly to above, I get the following:

realsense-vslam
realsense-vslam5923×5155 1.94 MB

$ ros2 node info /realsense2_camera
/realsense2_camera
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /realsense2_camera/extrinsics/depth_to_infra1: realsense2_camera_msgs/msg/Extrinsics
    /realsense2_camera/extrinsics/depth_to_infra2: realsense2_camera_msgs/msg/Extrinsics
    /realsense2_camera/infra1/camera_info: sensor_msgs/msg/CameraInfo
    /realsense2_camera/infra1/image_rect_raw: sensor_msgs/msg/Image
    /realsense2_camera/infra1/image_rect_raw/compressed: sensor_msgs/msg/CompressedImage
    /realsense2_camera/infra1/image_rect_raw/compressedDepth: sensor_msgs/msg/CompressedImage
    /realsense2_camera/infra1/image_rect_raw/theora: theora_image_transport/msg/Packet
    /realsense2_camera/infra1/metadata: realsense2_camera_msgs/msg/Metadata
    /realsense2_camera/infra2/camera_info: sensor_msgs/msg/CameraInfo
    /realsense2_camera/infra2/image_rect_raw: sensor_msgs/msg/Image
    /realsense2_camera/infra2/image_rect_raw/compressed: sensor_msgs/msg/CompressedImage
    /realsense2_camera/infra2/image_rect_raw/compressedDepth: sensor_msgs/msg/CompressedImage
    /realsense2_camera/infra2/image_rect_raw/theora: theora_image_transport/msg/Packet
    /realsense2_camera/infra2/metadata: realsense2_camera_msgs/msg/Metadata
    /rosout: rcl_interfaces/msg/Log
    /tf_static: tf2_msgs/msg/TFMessage
  Service Servers:
    /realsense2_camera/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /realsense2_camera/device_info: realsense2_camera_msgs/srv/DeviceInfo
    /realsense2_camera/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /realsense2_camera/get_parameters: rcl_interfaces/srv/GetParameters
    /realsense2_camera/list_parameters: rcl_interfaces/srv/ListParameters
    /realsense2_camera/set_parameters: rcl_interfaces/srv/SetParameters
    /realsense2_camera/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

based on rqt it seems image_format_[left,right] is trying to receive ir images on /infra[1,2]/image_rect_raw_mono/nitros, whereas they are being published on /realsense2_camera/infra[1,2]/image_rect_raw

4

@Raffaello I was wondering if you had any updates on this…

5

Hi @reza11

Thank you for your reply. Have you checked if your device is properly configured and if the realsense firmware is the right version?

Your issue can be related to these symptoms: