Need to Access Infra1 and Infra2 Camera in Realsense Camera ROS2 DS for VSLAM

Omniverse Isaac Sim
1

I’m working on a ROS2 setup where I’m trying to access the Infra1 and Infra2 infrared cameras from the realsense camera, which uses OmniVision OV9782 sensors, inside ISAAC SIM

I’ve created two nodes:

  • Camera_OmniVision_OV9782_Left
  • Camera_OmniVision_OV9782_Right

These are intended to access the Infra1 and Infra2 cameras, respectively. However, I’m unable to get any mono8 or grayscale image streams from them. The expected topics are not being published, and it seems the IR stream is not active.

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3

@saumy.sharma according to the documentation, there is no mono8 or grayscale option.

Are you trying to use Isaac ROS Visual SLAM or some other VSLAM packages?
Here is a tutorial of running Isaac ROS Visual SLAM with Isaac Sim: Tutorial for Visual SLAM with Isaac Sim — isaac_ros_docs documentation

Let me reach out to the internal team on how to get mono8 or grayscale image streams.

4

@saumy.sharma unfortunately there is no available node or example to provide mono8 or grayscale images. If that is what you want, you can write a customized node to convert rgb to mono8 or grayscale images. Please check out this tutorial ROS 2 Python Custom OmniGraph Node — Isaac Sim Documentation

5

Hi just to follow up can you share the information on enabling infra1 and infra2 camera of Realsense DS455 to work with VSLAM algorithm

6

Hi @saumy.sharma have you checked out this tutorial ROS2 Cameras — Isaac Sim Documentation?

7

One more follow up on this one is the I am trying to access the camera on robot in the USD file inside ISAAC SIM virtually not on the real camera for VSLAM

8

Hi @saumy.sharma. The tutorial I shared with you is for virtual cameras inside Isaac Sim and it is not for real cameras. You can follow the tutorial to do similar thing for the cameras on robot.

9

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