Isaac VSLAM does not publish the expected results

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

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.

2

Hi @enzo.guido.ped

Thank you for your post.

[realsense2_camera_node-2] [INFO] [1741283583.266382192] [camera.camera]: Device USB type: 2.1

This log looks suspicious and it’s expected to show 3.2.
Could you try some other USB 3 cables to see if you can get USB type: 3.2 and have those topics published?

Best,
Ahung

3

Hi Ahung,

I’m not sure why, but the camera connection sometimes is recognized as USB 2.1 and other times as USB 3.2, even when using the same port and cable. However, I was able to launch the camera with USB 3.2 recognition, and the result remained the same.

Below is the camera log. I haven’t included the other logs related to v_slam since the outcome was identical.

admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py enable_accel:=true enable_gyro:=true unite_imu_method:=2
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-03-13-08-55-05-561767-ubuntu-10860
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [10861]
[realsense2_camera_node-1] [INFO] [1741866905.827417001] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-1] [INFO] [1741866905.827599501] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1741866905.827630286] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1741866906.461107387] [camera.camera]: Device with serial number 841512071104 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1741866906.461306944] [camera.camera]: Device with physical ID 2-2-2 was found.
[realsense2_camera_node-1] [INFO] [1741866906.461337344] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1741866906.461946768] [camera.camera]: Device with port number 2-2 was found.
[realsense2_camera_node-1] [INFO] [1741866906.462024241] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1741866906.466830824] [camera.camera]: getParameters…
[realsense2_camera_node-1] [INFO] [1741866906.467403414] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1741866906.467481304] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1741866906.467515449] [camera.camera]: Device Serial No: 841512071104
[realsense2_camera_node-1] [INFO] [1741866906.467545242] [camera.camera]: Device physical port: 2-2-2
[realsense2_camera_node-1] [INFO] [1741866906.467647900] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1741866906.467684669] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1741866906.467716670] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1741866909.959678311] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1741866910.848489999] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1741866910.849623563] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1741866910.849772463] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1741866910.856096841] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1741866911.003163670] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1741866911.102845974] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-1] [INFO] [1741866911.103114013] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] 13/03 08:55:11,105 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1741866911.106413453] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] 13/03 08:55:11,117 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1741866911.134431961] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1741866911.134652382] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] 13/03 08:55:11,137 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1741866911.151011661] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1741866911.166427046] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 63
[realsense2_camera_node-1] [INFO] [1741866911.166581353] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-1] [INFO] [1741866911.171675814] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1741866911.189088559] [camera.camera]:
[realsense2_camera_node-1] 13/03 08:55:11,235 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/03 08:55:11,247 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/03 08:55:11,259 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/03 08:55:11,272 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/03 08:55:11,285 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 13/03 08:55:11,297 WARNING [281472509864160] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

Best,
Enzo Guido

4

Hi @enzo.guido.ped

The USB type shall not change from my experience. Probably the USB connection cable is a bit loose. I’d still recommend you to use some other USB cable.

[realsense2_camera_node-1] [INFO] [1741866906.467647900] [camera.camera]: Device FW version: 5.16.0.1

Please change to use RealSense firmware version 5.13.0.50.
See also Isaac ROS RealSense Setup

Best,
Ahung

5

Hi Ahung,

I managed to replace the cable, and now I have a constant connection at 3.2. I also updated the firmware to version 5.13.0.50, but I still got the same result.
Below is only the camera log, as once again, the results of the other launches executed were the same.

admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py enable_accel:=true enable_gyro:=true unite_imu_method:=2
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-03-17-15-47-37-109102-ubuntu-10500
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [10501]
[realsense2_camera_node-1] [INFO] [1742237257.523666645] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-1] [INFO] [1742237257.523874299] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1742237257.523903964] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1742237258.015797449] [camera.camera]: Device with serial number 841512071104 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1742237258.015954125] [camera.camera]: Device with physical ID 1-2.1-8 was found.
[realsense2_camera_node-1] [INFO] [1742237258.015982350] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1742237258.016710883] [camera.camera]: Device with port number 1-2.1 was found.
[realsense2_camera_node-1] [INFO] [1742237258.017288820] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1742237258.027491133] [camera.camera]: getParameters…
[realsense2_camera_node-1] [INFO] [1742237258.028129712] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1742237258.028172401] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1742237258.028196530] [camera.camera]: Device Serial No: 841512071104
[realsense2_camera_node-1] [INFO] [1742237258.028213938] [camera.camera]: Device physical port: 1-2.1-8
[realsense2_camera_node-1] [INFO] [1742237258.028230323] [camera.camera]: Device FW version: 5.13.0.50
[realsense2_camera_node-1] [INFO] [1742237258.028244723] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1742237258.028257396] [camera.camera]: Sync Mode: Off
[realsense2_camera_node-1] [INFO] [1742237261.305250681] [camera.camera]: Set ROS param depth_module.profile to default: 640x480x15
[realsense2_camera_node-1] [INFO] [1742237262.179225804] [camera.camera]: Set ROS param rgb_camera.profile to default: 640x480x15
[realsense2_camera_node-1] [INFO] [1742237262.180134630] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1742237262.180245577] [camera.camera]: Set ROS param accel_fps to default: 63
[realsense2_camera_node-1] [INFO] [1742237262.194869393] [camera.camera]: Stopping Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1742237262.349398929] [camera.camera]: Starting Sensor: Stereo Module
[realsense2_camera_node-1] [INFO] [1742237262.471030168] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-1] [INFO] [1742237262.471369570] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] 17/03 15:47:42,472 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] [INFO] [1742237262.475835523] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1742237262.502587883] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[realsense2_camera_node-1] [INFO] [1742237262.502811185] [camera.camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1742237262.514766412] [camera.camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1742237262.531617652] [camera.camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 63
[realsense2_camera_node-1] [INFO] [1742237262.531868892] [camera.camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-1] [INFO] [1742237262.535646185] [camera.camera]: RealSense Node Is Up!
[realsense2_camera_node-1] [WARN] [1742237262.553194598] [camera.camera]:
[realsense2_camera_node-1] 17/03 15:47:42,799 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:42,810 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:42,822 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:42,833 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:43,458 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:43,469 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:43,480 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:43,490 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[realsense2_camera_node-1] 17/03 15:47:43,501 WARNING [281472870967520] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

Best,
Enzo Guido

6

Hi @enzo.guido.ped

admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py enable_accel:=true enable_gyro:=true unite_imu_method:=2

It appears that you test command is not from vslam page. Could you try following two tutorials in Tutorial for Visual SLAM Using a RealSense Camera with Integrated IMU — isaac_ros_docs documentation ?
Tutorial Walkthrough - VSLAM Execution
Tutorial Walkthrough - Live visualization: Run RViz2 live while running realsense-camera node and visual_slam nodes.

Best ,
Ahung