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 ZED Camera

Overview

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

Note

This tutorial requires a compatible ZED camera from the list available here.

Tutorial Walkthrough

  1. Complete the ZED 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

Note

If you are not using the ZED2i camera, modify the camera_model variable in the launch file to zed, zed2, zed2i, zedm, zedx or zedxm. Also change the Fixed Frame in RViz to camera_model_left_camera_optical_frame.

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

    ros2 launch isaac_ros_bi3d isaac_ros_bi3d_zed.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:=3840

Note

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