Tutorial for cuVGL Localization

Localization by using Isaac Perceptor

If you want to use cuVGL in ROS 2 along with Isaac Perceptor, please follow the Tutorial: Mapping and Localization with Isaac Perceptor for more details.

Use Global Localization Node in ROS 2

You can use cuVGL in ROS 2 without using Isaac Perceptor. You can:

  • directly include the visual_global_localization.include.launch in your launch file

  • use the following command to launch the localization node

    ros2 launch visual_global_localization isaac_ros_visual_global_localization_node.launch.py

See Isaac ROS Visual Global Localization to build or install the package.

This launches the localization node with the default parameters. You can change the parameters by modifying the include/visual_global_localization.launch.py file or by passing the parameters as arguments, for details see Isaac ROS Visual Global Localization.

Use cuVGL in C++

The isaac_ros_visual_global_localization ROS 2 package serves as a demonstration for using the cuVGL libraries, see the source code GitHub:

Source code on GitHub.