{"id":39133498,"url":"https://github.com/orbbec/isaac_ros-dev","last_synced_at":"2026-01-17T21:21:56.979Z","repository":{"id":250673031,"uuid":"835035425","full_name":"orbbec/isaac_ros-dev","owner":"orbbec","description":null,"archived":false,"fork":false,"pushed_at":"2024-11-03T09:12:32.000Z","size":31,"stargazers_count":5,"open_issues_count":1,"forks_count":2,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-04-29T06:40:48.150Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/orbbec.png","metadata":{"files":{"readme":"README.MD","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-29T03:04:15.000Z","updated_at":"2025-03-14T06:51:02.000Z","dependencies_parsed_at":"2024-11-01T08:20:43.685Z","dependency_job_id":"f7fc23fb-7b74-40f7-a422-a45997f52de5","html_url":"https://github.com/orbbec/isaac_ros-dev","commit_stats":null,"previous_names":["orbbec/isaac_ros-dev"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/orbbec/isaac_ros-dev","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/orbbec%2Fisaac_ros-dev","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/orbbec%2Fisaac_ros-dev/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/orbbec%2Fisaac_ros-dev/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/orbbec%2Fisaac_ros-dev/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/orbbec","download_url":"https://codeload.github.com/orbbec/isaac_ros-dev/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/orbbec%2Fisaac_ros-dev/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28518619,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-17T18:55:29.170Z","status":"ssl_error","status_checked_at":"2026-01-17T18:55:03.375Z","response_time":85,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-01-17T21:21:56.873Z","updated_at":"2026-01-17T21:21:56.960Z","avatar_url":"https://github.com/orbbec.png","language":null,"funding_links":[],"categories":[],"sub_categories":[],"readme":"# NVSLAM and NVblox Setup Guide for AGX Orin with Orbbec Gemini Cameras\n\nThis guide covers the setup process for NVSLAM and NVblox environments on the NVIDIA Jetson AGX Orin platform. The setup is based on Ubuntu 22.04 with JetPack 6. This guide specifically addresses the use of Orbbec Gemini cameras, tested with the Gemini 335L and Gemini 336L models.\n\n## 1. Platform-Specific Steps\n\n### 1.1 CUDA Installation (if not already installed)\n\nCheck if CUDA is already installed:\n```bash\nnvcc --version\n```\n\nIf not installed, run:\n```bash\nsudo apt-get install cuda\n```\n\nConfigure CUDA environment variables:\n```bash\necho 'export PATH=/usr/local/cuda/bin:$PATH' \u003e\u003e ~/.bashrc\necho 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH' \u003e\u003e ~/.bashrc\necho 'export CUDA_HOME=/usr/local/cuda' \u003e\u003e ~/.bashrc\nsource ~/.bashrc\n```\n\nVerify CUDA installation:\n```bash\nnvcc --version\n```\n\n## 2. Common Steps\n\n### 2.1 ROS2 Humble Installation\n\nSet up the APT repository using [NVIDIA's Isaac ROS build farm repo](https://nvidia-isaac-ros.github.io/getting_started/isaac_apt_repository.html). Please select the Isaac ROS 3.0 version.\n\nThen install ROS2 Humble:\n```bash\nsudo apt-get update\nsudo apt-get install ros-humble-desktop-full python3-rosdep\n```\n\n### 2.2 Installing the Negotiated Package\n\n```bash\nsudo rosdep init\nsudo curl -o /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml https://isaac.download.nvidia.com/isaac-ros/extra_rosdeps.yaml\necho \"yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml\" | sudo tee /etc/ros/rosdep/sources.list.d/00-nvidia-isaac.list\nsudo apt-get install -y build-essential devscripts dh-make quilt fakeroot python3-bloom\n```\n\nEdit `/etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml`, replace `focal` with `jammy`, then run:\n\n```bash\nrosdep update\n```\n\n```bash\nmkdir -p ~/ros2_ws/src \u0026\u0026 cd ~/ros2_ws/src \\\n    \u0026\u0026 git clone https://github.com/osrf/negotiated \u0026\u0026 cd negotiated \u0026\u0026 git checkout master \\\n    \u0026\u0026 source /opt/ros/humble/setup.bash \\\n    \u0026\u0026 cd negotiated_interfaces \u0026\u0026 bloom-generate rosdebian \u0026\u0026 fakeroot debian/rules binary \\\n    \u0026\u0026 cd ../ \u0026\u0026 sudo apt-get install -y ./*.deb \u0026\u0026 rm ./*.deb \\\n    \u0026\u0026 cd negotiated \u0026\u0026 bloom-generate rosdebian \u0026\u0026 fakeroot debian/rules binary \\\n    \u0026\u0026 cd ../ \u0026\u0026 sudo apt-get install -y ./*.deb \u0026\u0026 rm ./*.deb\n```\n\n### 2.3 Additional Dependencies\n\n```bash\nsudo apt install vpi3-dev libnvvpi3 ros-humble-isaac-ros-nvblox ros-humble-isaac-ros-visual-slam\n```\n\n## 3. Setting Up the Environment\n\n### 3.1 Get Source Code and Initialize Submodules\n\n```bash\ngit clone https://github.com/orbbec/isaac_ros-dev.git\ncd isaac_ros-dev\ngit submodule update --init --recursive\n```\n\n### 3.2 Build the Workspace\n\n```bash\ncolcon build\n```\n\n### 3.3 Prepare the Camera\n\n```bash\ncd src/OrbbecSDK_ROS2/orbbec_camera/scripts\nsudo bash install_udev_rules.sh\n```\n\n### 3.4 Increase USB Memory buffer\n\n```bash\necho 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb\n```\n\n### 3.5 Setup DDS configuration\n\nPlease refer to the [Fast DDS Configuration](https://github.com/orbbec/OrbbecSDK_ROS2/blob/main/docs/fastdds_tuning.md) for more information.\n\n## 4. Running Examples\n\nNote: NVSLAM and NVblox are separate examples and cannot be run simultaneously. Choose one of the following examples to run.\n\n### 4.1 Running NVSLAM Example\n\nTo run the NVSLAM example, open three terminal windows:\n\n#### Terminal 1 - Launch Camera for NVSLAM\n\n```bash\nsource install/setup.bash\nros2 launch isaac_orbbec_launch isaac_ros_visual_slam_orbbec.launch.py\n```\n\n#### Terminal 2 - Start RViz2 for NVSLAM\n\n```bash\nsource install/setup.bash\nrviz2 -d src/isaac_orbbec_launch/rviz/orbbec.rviz\n```\n\n### 4.2 Running NVblox Example\n\nTo run the NVblox example, open one terminal windows:\n\n#### Terminal 1 - Launch NVblox Example\n\n```bash\nsource install/setup.bash\nros2 launch isaac_orbbec_launch orbbec_dynamics_example.launch.py\n```\n\n## 5. Demo Video\n\nFor a demonstration of Orbbec Gemini 335L on NVIDIA Jetson AGX Orin with Isaac ROS Visual SLAM and Nvblox, you can watch this video:\n\n[Orbbec Gemini 335L Nvblox Demo](https://youtu.be/jpbjC_9eQEI?si=UKw3BR0Gjs6QiKLb)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Forbbec%2Fisaac_ros-dev","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Forbbec%2Fisaac_ros-dev","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Forbbec%2Fisaac_ros-dev/lists"}