Issue with SLAM and Fusion example

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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Hello, I am using the docker image for the SLAM node, we are attempting to evaluate the mutli-sensor system and I am modeling it off the example which uses the robot_localization package to use multiple instances of the SLAM program.

The problem is the robot_localization package isn’t included into the docker image.(as far as I can tell) and when I follow the steps here:

https://nvidia-isaac-ros.github.io/getting_started/isaac_ros_buildfarm_cdn.html

My docker image gets messed up, apparently it resets at shutdown as when I restart it it’s like it was never there(which is a good thing as it erased my ros2 install).

I understand I can -commit the docker image to be used in the future but like I mentioned when I followed the steps above it ended up destroying my ros2 install.

Any suggestions?

My local ROS2 installation can find and install the localization package no problem so I suppose I could spawn the node locally but I’m not sure if that would work or not.

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I just tested and sudo apt install ros-humble-robot-localization works inside the container.

Make sure you have the latest version of isaac_ros_common.

If running that command works inside the container, you can create a new docker file and add it to the config file as specified here.

1 Like
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Thank you @reza11

yes, you can install the binaries of robot-localization without building from the source just running from the docker container:

sudo apt install ros-humble-robot-localization
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When I run this I get an error:

Reading package lists… Done
Building dependency tree
Reading state information… Done
E: Unable to locate package ros-humble-robot-localization

I may have built the docker image, I don’t remember exactly. I’m currently running ubuntu 22.04

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Which device are you using?

Please check if you are working with Jetpack 5.1.2 and working with the Isaac ROS docker on Isaac ROS common.