https://github.com/khaledsharif/ros-vslam
Quickstart for setting up Visual SLAM in ROS and testing loop closure using Isaac Sim
https://github.com/khaledsharif/ros-vslam
isaac-sim ros ros2-humble slam vslam
Last synced: 9 months ago
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Quickstart for setting up Visual SLAM in ROS and testing loop closure using Isaac Sim
- Host: GitHub
- URL: https://github.com/khaledsharif/ros-vslam
- Owner: KhaledSharif
- License: mit
- Created: 2024-05-07T06:02:32.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-05-10T05:33:53.000Z (about 2 years ago)
- Last Synced: 2025-03-17T10:52:27.859Z (about 1 year ago)
- Topics: isaac-sim, ros, ros2-humble, slam, vslam
- Language: Dockerfile
- Homepage:
- Size: 14.6 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Visual Simultaneous Localization and Mapping (VSLAM)
Quickstart for GPU-Accelerated VSLAM in NVIDIA Isaac Sim (See [Prerequisites](https://nvidia-isaac-ros.github.io/getting_started/isaac_sim/index.html))
### Terminal A: Isaac Sim
```bash
# Launch Isaac Sim
~/.local/share/ov/pkg/isaac_sim-2023.1.1/isaac-sim.sh
```
### Terminal B: Isaac ROS Visual SLAM Node
```bash
# Launch Isaac ROS Docker container and enter terminal
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && scripts/run_dev.sh
# Install Isaac ROS Visual SLAM package for ROS Humble
sudo apt-get install -y ros-humble-isaac-ros-visual-slam
# Launch Visual SLAM ROS node for Isaac Sim
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_isaac_sim.launch.py
```
### Terminal C: RVIZ
```bash
# Run command from root of this repository
rviz2 -d ./rviz/isaac_sim.cfg.rviz
```
### Terminal D: Command Robot to Move
```bash
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"
```
### Debugging
```bash
ros2 topic list
```
```
/clock
/cmd_vel
/front_3d_lidar/point_cloud
/front_stereo_camera/imu/data
/front_stereo_camera/left_rgb/camerainfo
/front_stereo_camera/left_rgb/image_raw
/front_stereo_camera/right_rgb/camerainfo
/front_stereo_camera/right_rgb/image_raw
/left_stereo_camera/imu/data
/odom
/parameter_events
/rear_stereo_camera/imu/data
/right_stereo_camera/imu/data
/rosout
/tf
/tf_static
/visual_slam/imu
/visual_slam/status
/visual_slam/tracking/odometry
/visual_slam/tracking/slam_path
/visual_slam/tracking/vo_path
/visual_slam/tracking/vo_pose
/visual_slam/tracking/vo_pose_covariance
/visual_slam/vis/gravity
/visual_slam/vis/landmarks_cloud
/visual_slam/vis/localizer
/visual_slam/vis/localizer_loop_closure_cloud
/visual_slam/vis/localizer_map_cloud
/visual_slam/vis/localizer_observations_cloud
/visual_slam/vis/loop_closure_cloud
/visual_slam/vis/observations_cloud
/visual_slam/vis/pose_graph_edges
/visual_slam/vis/pose_graph_edges2
/visual_slam/vis/pose_graph_nodes
/visual_slam/vis/slam_odometry
/visual_slam/vis/velocity
```