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 RealSense Camera

Overview

This tutorial walks through setting up a graph to segment stereo image pairs from a RealSense camera.

Note

This tutorial requires a compatible RealSense camera from the list of available cameras.

Tutorial Walkthrough

  1. Complete the RealSense setup tutorial.

  2. Complete the Quickstart section for the isaac_ros_bi3d package.

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

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

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

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

  5. Launch the pre-composed graph launch file and wait for 10 seconds:

    ros2 launch isaac_ros_bi3d isaac_ros_bi3d_realsense.launch.py \
featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan \
max_disparity_values:=10 \
image_height:=1080 \
image_width:=1920

Note

Modify image_height and image_width with the appropriate values if using other image sizes.