Nvidia Isaac ROS with Airsim

[daniele.marchisotti.work]

Hi there,

I am trying to use Nvidia ros nvblox with Cosys-Airsim, an implementation of Airsim.

I can give as input to nvblox the topics listed in the documentation.

These topics can be viewed also in the rqt graph attached. I have remapped those topics that I am streaming from Airsim ros2 node to match the ones of the documentation. The depth image given as input has this encoding 32FC1 with values in meters. Is it correct? The image topics have a rate between 8 to 10 Hz.

I have also attached the launch file I am using, the .yaml file for nvblox configuration and the output I get from the terminal.

launch file:
lhd_nvblox_launch.txt (4.1 KB)

nvblox.yaml
nvblox.txt (4.2 KB)

output.txt:
output.txt (51.7 KB)

The issue is that many topic messages that should be published by nvblox are not available. I have attached also the metadata.yaml of the ROS2 bag file that I created to record all topics.

As you can see, many messages are missing. What could be the problem?

metadata.yaml:
metadata.txt (19.2 KB)

[Raffaello]

Hi @daniele.marchisotti.work

Thank you for your detailed message. I suspect the nodes are not well connected.

Without AirSim and running a rosbag, does the system work?

Best,
Raffaello

[daniele.marchisotti.work]

Hi @Raffaello,

Yes you are correct. I managed to solve it yesterday by setting correctly the global_frame and by defining correctly all transformation with respect to it. I spotted the problem by using debug level of the ROS node.

Best,
Daniele