I want to use ZEDX camera inside the ISAAC SIM and use the camera inputs for ISAAC ROS Perceptor. Can anyone guide me how i can develop/ modify the perceptor package because the examples provided for ZED camera in the documentation doesnt exactly work with ISAAC SIM. Any guidance on this one is appreciated.
4.2.0
4.1.0
4.0.0
Ubuntu 22.04
Hey @anirudh.gudi! Currently the Isaac Sim launch file for perceptor is using nova_carter_navigation scene as an example, which uses hawk cameras. If you want to use ZEDX camera, you may need to do the following modification (use nova_carter_navigation scene as an example):
Isaac/4.0/Isaac/Sensors/Stereolabs/ZED_X/ZED_X.usd)You can refer to isaac_ros_nvblox_examples package (link) launch files. There are launch files for Isaac Sim and ZEDX camera. Nvblox is the core of perceptor workflow. If you are able to bring up nvblox example with ZEDX cameras in Isaac Sim, you should be able to run the whole perceptor workflow as well.
Hello @zhengwang ! Thanks for your response and suggestion. Let me try out method you suggested.
Also, can you give me a sample on how i can bring up nvblox with ZEDX camera? i have tried to look through the launch files and its unclear how the nodes/ topics should be named when using zed camera.
Currently i am just building action graph for ZED similar to the front hawk camera(disabled this) and see if the package works the same way. Although the package launches, its not building the mesh / 3D reconstruction of the area while the nova carter navigates.
Any suggestion on this will be helpful.
Hey @anirudh.gudi sorry for my late reply.
Here is an example of using ZEDX with nvblox: ZED Camera Examples — isaac_ros_docs documentation
BTW, Isaac ROS 3.2 is released and it is highly recommended to switch to the newest version. Isaac ROS 3.2 is compatible with Isaac Sim 4.2.0