Isaac ROS Quick Start

1. About Isaac ROS
2. Quick Setup
   1. Nvidia Container
   2. Isaac ROS
   3. Isaac ROS Jetson
   4. Isaac ROS Visual SLAM

About Isaac ROS

Isaac ROS is a distribution of ROS 2, a collection of NVIDIA-accelerated, high performance, low latency ROS 2 packages for making autonomous robots which leverage the power of Jetson and other NVIDIA platforms.

The official document can be found here: https://nvidia-isaac-ros.github.io/getting_started/isaac_sim/index.html

Quick Setup

Isaac ROS requires container environment.

Nvidia Container

Install, setup and simple validation documents: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
Nvidia container allow various backends, and I choose Docker, which is also the default choice of Jetpack.
Validate with a sample workload:

1

sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi

Isaac ROS

• Setup hardware and software: https://nvidia-isaac-ros.github.io/getting_started/index.html#setup
• Setup Docker container with Isaac-ROS-Common: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_common/index.html
  • Due to a new dependency in moveit_constructor, refer to https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/pull/137 for a fix.

Isaac ROS Jetson

Validate whether Isaac ROS has successfully installed.

https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_jetson/isaac_ros_jetson_stats/index.html#quickstart

Isaac ROS Visual SLAM

GitHub: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
Docs: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index.html#quickstart

Make sure RealSense has setup before. Refer to: https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/sensors/realsense_setup.html

• It is required to use RealSense firmware version 5.13.0.50, librealsense version 2.55.1 and RealSense camera ROS driver version 4.51.1. Any deviation from these versions will break Isaac ROS examples.
• Check with realsense-viewer before the ROS launch.

The tutorial of Isaac-ROS-VSLAM using RealSense camera: https://nvidia-isaac-ros.github.io/concepts/visual_slam/cuvslam/tutorial_realsense.html