Tutorial with Isaac Sim

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

Overview

This tutorial demonstrates how to perform depth-camera based reconstruction using the disparity_node and stereo image pairs streamed from Isaac Sim.

Tutorial Walkthrough

  1. Complete steps 1-4 listed from the quickstart.

  2. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide.

  3. Press Play to start publishing data from the Isaac Sim.

    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png/

  4. In a separate terminal, start the isaac_ros_stereo_image_proc graph using the launch files:

    ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_isaac_sim.launch.py

    You should see a RViz window, as shown below:

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