Visual SLAM with Isaac Sim How play

Autonomous Machines Robotics - Isaac Isaac ROS
1

I am sorry by my ignorance with Omniverse application but I installed it yesterday.

In the Visual SLAM with Isaac Sim tutorial say:

  1. Complete the quickstart.

  2. Launch the Docker container using the run_dev.sh script:

  3. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide

I have already installed Omniverse and Isaac SIM Library

  1. Press Play to start publishing data from the Isaac Sim.

But I suppose that I need launch any simulation. Which simulation. ??? How can I launch it ??? I know Gazebo and it is necessary always launch a robot simulation. Is it difference with Isaac SIM ??? As I said at the begining, it is the fisrt time that I use this application Are there any video to show me how I I can do.

2

Hi @flogarcia999

I think you are speaking about this demo: Tutorial for Visual SLAM with Isaac Sim — isaac_ros_docs documentation

The demo you are running already has a robot loaded with all ROS2 topics ready to be used. Most of the Gazebo demos use a loader that reads the URDF from the robot_description node and dynamically loads the robot into the environment.

If you have followed the Isaac Sim Setup — isaac_ros_docs documentation and open the scene “Sample Scene”

You will see an output like that, where there is a robot (Nova) at the center of the scene

image
image1921×1074 312 KB

Press the Play button to start streaming the simulation output to all topics. The Isaac ROS vslam docker container will be able to work and localize the robot.

I hope this post can be helpful for you

Best,
Raffaello

3

Thanks Raffaello.
When I select ROS → Isaac ROS → Sample Scenes menu, the log console shows:

20.006s] RTX ready
[20.012s] Isaac Sim App is loaded.
server omniverse://localhost: ConnectionStatus.CONNECTING
2024-05-22 18:28:30 [64,984ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File “/home/fgarcia/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.ros2_bridge/omni/isaac/ros2_bridge/scripts/samples/ros_samples.py”, line 47, in
File “/home/fgarcia/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.ros2_bridge/omni/isaac/ros2_bridge/scripts/samples/ros_samples.py”, line 90, in _on_environment_setup
File “/home/fgarcia/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py”, line 572, in get_assets_root_path
File “/home/fgarcia/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/isaac/core/utils/nucleus.py”, line 192, in check_server
File “/home/fgarcia/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/extscore/omni.client/omni/client/init.py”, line 158, in stat

and nothing appears

4

It should not be an error you see from the Isaac Sim console.

After running Isaac Sim, have you also run the Isaac ROS vslam from the Docker container?

Have you tried the steps 5-6-7?

If the robot doesn’t move, can you share the output from the docker container?

Thank you again,
Raffaello