Hello
Following the previous post with the Occupancy Map, I now have a question from the Multiple Robot ROS2 Navigation sample (Multiple Robot ROS2 Navigation — Isaac Sim Documentation).
For the Multiple Robot ROS2 Navigation sample, it says that ROS2 Image publisher pipelines are disabled by default to improve performance in a Note with what to do for publishing images.
What I’m trying to achieve is to enabled the Image publisher pipeline for showing camera image inside RViz application for a specific Carter robot or all of them.
What I’ve done so far, using the Office sample, is to for example extend Nova_Carter_ROS1>front_hawk, select “left_camera_render_product” and checked the “enabled” checkbox inside “Inputs”
however by just doing so, if I launch RViz, neither “Image” tab or preview image UI are showing up.
Can you please tell me what to do in order to see carter camera image in RViz?
I really thank you in advance for your help.
Hi @ludokun!
Here are a few things you can check:
- Whether the image topics are being published. You can do so by running
ros2 topic hz ${image_topic} and see if it is showing the publish frequency
For example, I enabled the Isaac Create Render Product node for the left camera of the front hawk on carter 1.
zhengwang@zhengwang-isaac:~/isaacsim$ ros2 topic hz /carter1/front_stereo_camera/left/image_raw
average rate: 18.490
min: 0.039s max: 0.143s std dev: 0.02073s window: 20
- Whether you add the topic in rviz for visualization. In my case, this is what I added in rviz
Hello @zhengwang
Thank you for your help.
I’m sorry I’m a beginner in RViz and IsaacSim.
The scene I’m using is the sample from the Robotics Example: ROS2/Navigation/Multiple Robots/Office Scene
I’ve tried to compare Carter setting with the sample in ROS2/Navigation/Carter and beside checking the box “enable” in the front_hawk>left_caemra_render_product, I didn’t see any difference.
Concerning the ros2 topic hz ${image_topic} command, I’ve tried both following command but I had a message saying that topic XXX does not appear to be published yet. May be I just put a wrong topic name
ros2 topic hz /carter1/front_stereo_camera/left/image_raw
ros2 topic hz /Nova_Carter_ROS_1/front_stereo_camera/left/image_raw
Could you please tell me how to get the image_topic path?
Regarding adding the topic in rviz, I’m using the rivz setting file for the office sample, I didn’t create rviz from the RViz software, May be the rviz for the office sample lack the image setting?
I’m sorry for asking basic questions.
Best regards
Hi @ludokun! No worries! I made two videos to show you how to visualize it.
The first one is to show you how to enable the publish of rgb topic. Here I am using hospital scene and you can do the same with office scene. I enabled the left camera of the front hawk camera on carter1. You can check ROS2 Camera Helper node to find the topic name. You can also update topic name to anything meaningful to you. You can use ros2 topic list command to check all of the topics. I didn’t run ros2 topic hz ${topicName} but you can give it a try.
The second video is to visualize the camera in Rviz. First you need to run the corresponding launch file. In my case, I ran the multiple_robot_carter_navigation_hospital launch file. It brings up three Rviz. I checked all three contain the three robot topics. I just randomly picked one and added the visualization.
Let me know if you have more questions!
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Hello @zhengwang
Thank you very much for your video and your explanation.
It really helped a lot to understand and check the topicName.
Thanks to you video I was able to display the Image from the Carter. I just had to add the image as you shown me on the rviz video using the Add button and select the image from the Topic tab.
Just out of curiosity, for the carter sample in the warehouse, when running the rviz app, the image is added at launch. My guess is that the topic has been added somewhere in the rviz/py file. Could you please tell me which file need to be edited? Is there any documentation available?
I really thank you for your help.
You can checkout the multiple_robot_carter_navigation_office.launch.py for the rviz config file (link). It is using carter_navigation_namespaced.rviz file.
But I don’t recommend you to modify carter_navigation_namespaced.rviz file manually as it is not an easy task. After you launch multiple_robot_carter_navigation_office.launch.py and rviz is running, you can add the topics you want to visualize. Then you can save the config file and overwrite carter_navigation_namespaced.rviz.
Thank you for your explanation.
It will be safer to just export the current config.
Again thank you very much.
