isaac_ros_nvblox

Set Up Development Environment

1. Set up your development environment by following the instructions in getting started.

2. Clone isaac_ros_common under ${ISAAC_ROS_WS}/src.

   cd ${ISAAC_ROS_WS}/src && \
      git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git
   

3. (Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

   Warning

   We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the Isaac ROS Dev container during installation, which will interrupt the quickstart process.

Download Quickstart Assets

Download quickstart data from NGC:

Make sure required libraries are installed.

sudo apt-get install -y curl tar

Then, run these commands to download the asset from NGC.

NGC_ORG="nvidia"
NGC_TEAM="isaac"
NGC_RESOURCE="isaac_ros_assets"
NGC_VERSION="isaac_ros_nvblox"
NGC_FILENAME="quickstart.tar.gz"

REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/versions/$NGC_VERSION/files/$NGC_FILENAME"

mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets/${NGC_VERSION} && \
    curl -LO --request GET "${REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets/${NGC_VERSION} && \
    rm ${NGC_FILENAME}

Set Up isaac_ros_nvblox

There are two options for installing nvblox: installation from Debian, and installation from source.

Installation from DebianInstallation from source

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

   cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh
   

2. Install isaac_ros_nvblox and its dependencies.

   sudo apt-get install -y ros-humble-isaac-ros-nvblox && \
   rosdep update && \
   rosdep install isaac_ros_nvblox
   

Run Example Launch File

Run the example with:

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False

You should see the robot reconstructing a mesh, with the 2d ESDF slice overlaid on top.