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
Complete the RealSense setup tutorial.
Complete the Quickstart section for the
isaac_ros_bi3d
package.Launch the Docker container using the
run_dev.sh
script:cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \ ./scripts/run_dev.sh
Inside the container, build and source the workspace:
cd /workspaces/isaac_ros-dev && \ colcon build --symlink-install && \ source install/setup.bash
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.