Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

Tutorial for Bi3D with Isaac Sim

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/concepts/stereo_depth/bi3d/bi3d_isaac_sim_rviz.png/

Overview

This tutorial walks through setting up a graph to segment stereo image pairs generated by Isaac Sim by depth disparity levels. For more details on the output, see interpreting the output section of the package reference.

Tutorial Walkthrough

Complete steps 1-7 listed in the Quickstart section of the package reference.
Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide.
Press Play to start publishing data from the Isaac Sim.

Open a second terminal and attach to the container:

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

In the second terminal, start the isaac_ros_bi3d node using the launch files:

ros2 launch isaac_ros_bi3d isaac_ros_bi3d_isaac_sim.launch.py \
featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan

You should see a RViz window, as shown at the top of this page.

Optionally, you can run the visualizer script to visualize the disparity image.
```
ros2 run isaac_ros_bi3d isaac_ros_bi3d_visualizer.py
```