Development environment:
Jetson AGX Orin
Ubuntu 22.04.4 LTS
Nvidia-jetpack 6.2+b77
Intel Realsense D435i
Realsense SDK 2.55.1
Package realsense2 4.51.1-0jammy
Hi, I’m trying to run the isaac_vslam package following the step-by-step guide on this page isaac_ros_visual_slam — isaac_ros_docs documentation
I’ve also set my environment to run the docker container like shows on this page Developer Environment Setup — isaac_ros_docs documentation
And running the VSLAM like shows on this page Tutorial for Visual SLAM Using a RealSense Camera with Integrated IMU — isaac_ros_docs documentation
As it shows on the pages above, I should be seeing the odometry data at the topic /visual_slam/tracking/odometry, the camera frames on the topic /camera/infra1/image_rect_raw and the imu data on the topic /camera/imu when running the command
$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py
in the docker container. But in my case only the /tf_static topic is being published. I’ve runned the camera launch alone with the command
$ ros2 launch realsense2_camera rs_launch.py
and it’s working fine, the messages are being published normally and the image is showing as expected. I’ve seen other similar problems on the Nvidia developers forum, which the solution to most of them was to run a newer version of isaac VSLAM and its demos, but I’m already doing that and still I’m not recieving any data. Am I missing something?
Descriptive logs about the mentioned problems are in this link:
*PS: I know that the camera is not displaying the imu data as well, currently I’m running an external IMU sensor to get that data and I haven’t modified the package to publish at the expected topic, even so, shouldn’t there be any other published topic by the isaac VSLAM that output some data rather than only /tf_static?
Thanks in advance.