Static Reconstruction in Isaac Sim

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_sim_nvblox_nav2.gif/

This tutorial walks you through generating a 3D reconstruction with nvblox using image and LiDAR data from Isaac Sim. The reconstruction is displayed as a 3D mesh in RVIZ. Nvblox also converts the reconstruction into a 2D costmap, which is fed into the Nav2 stack for path planning.

Tutorial Walkthrough

  1. Complete the Nvblox Quickstart.

  2. Install Isaac Sim, open the Isaac Sim terminal and export the necessary environment variables as explained in steps 1-3 of the Isaac Sim Setup Guide.

  3. Start the simulation by running the following command in the terminal:

    ./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_nvblox/nvblox_examples/nvblox_isaac_sim/omniverse_scripts/start_isaac_sim.py --gpu_physics_enabled

    Note

    For more information on the start_isaac_sim script, see here.

  4. In another terminal, launch the Docker container using the run_dev.sh script:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh

  5. Inside the container, build and source the workspace:

    cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install && \
  source install/setup.bash

  6. Launch the pre-composed graph launch file:

    ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py

  7. Click on the 2D Goal Pose button. You should see the mesh, costmap, and the robot moving towards the goal location, as shown at the top of this page.

Troubleshooting

See Isaac Sim Issues.