Problems with Isaac ROS + nvblox

[jtylerboylan]

Hello,

I’m trying to use the Isaac ROS nvblox package for SLAM on my autonomous robot. I followed the tutorial step-by-step on a out-of-the-box Jetson AGX Orin Developer Kit, however the results are not coming out good at all.

Here is an example of the output after running the program for a few seconds and performing a slow spin:

As you can see, the mesh is all out of sorts and the localization positioning is wrong.

While running I get the warning:

[nvblox_node-3] WARNING! Mesh block is too big to weld. Exiting without doing anything.

Anyone run into this problem before?

My hardware is:

• Jetson AGX Orin Developer Kit 32GB
• Intel Realsense Depth Camera D435

[hemals]

Changes in librealsense and realsense_ros have caused some issues with Isaac ROS Nvblox. We’ve pushed out hotfixes here: Hotfix to the nvblox realsense vslam example. by alexmillane · Pull Request #49 · NVIDIA-ISAAC-ROS/isaac_ros_nvblox · GitHub that should help resolve this.

[jtylerboylan]

Thank you!