Isaac ROS VSLAM 3.2 with ZED

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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Hello everyone!

In Isaac ROS 2.1, I was working with ZED cameras and noticed there wasn’t compatibility until the recent 3.2 version update. However, I’ve seen that VSLAM doesn’t seem to directly support ZED cameras, and nvblox appears to rely on the pose topic provided by the ZED - ROS2 package. I’m wondering if there have been any updates regarding this, as it’s a critical factor for deciding on the next purchases for our project.

Thanks in advance for your help!

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Hi @jim.fabian

Just to clear things up, the ZED camera has always worked well with all versions of Isaac ROS! We just didn’t have examples available to help you get started.

Isaac ROS vslam:

Isaac ROS Nvblox:

Let me know if I am missing something.

Best,
Raffaello

1 Like
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Hello @Raffaello , thanks for your answer and all the examples! I saw the .launch.py from Nvblox from 3.2 version and I see there is no VSLAM node created. Then I saw in file nvblox.launch.py and the topic /zed/zed_node/pose is used. I understand that no VSLAM node is created and the pose topic is directly from ZED SDK? If that is the case, is it possible to mix vslam.launch.py and change the pose topic?

Thanks!

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Hi @jim.fabian

Yes, you can change the topic.

My best suggestion is always to make a new package and write a custom launcher without modifying the original code but using such a code reference.

Best,
Raffaello