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.
Isaac ROS RealSense Setup
Camera Compatibility
RealSense Model |
Supported? |
---|---|
D455 |
✓ |
D435i |
✓ |
D415 |
✗ |
Note
For best results, you must update the camera’s firmware.
Setup Instructions
Note
This tutorial assumes that you have completed following the instructions Developer Environment Setup.
Clone the
librealsense
repository and setupudev
rules. Remove any connected RealSense cameras when prompted:
cd /tmp && \ git clone https://github.com/IntelRealSense/librealsense && \ cd librealsense && \ ./scripts/setup_udev_rules.sh
Clone the
isaac_ros_common
and the4.51.1
release of therealsense-ros
repository:
Note
${ISAAC_ROS_WS}
is defined to point to/ssd/workspaces/isaac_ros-dev/
or~/workspaces/isaac_ros-dev/
.cd ${ISAAC_ROS_WS}/src git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git git clone https://github.com/IntelRealSense/realsense-ros.git -b 4.51.1
Plug in your RealSense camera before launching the Docker container in the next step.
Configure the container created by
isaac_ros_common/scripts/run_dev.sh
to includelibrealsense
. Create the.isaac_ros_common-config
file in theisaac_ros_common/scripts
directory:
cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \ touch .isaac_ros_common-config && \ echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config
Launch the Docker container:
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \ ./scripts/run_dev.sh ${ISAAC_ROS_WS}This rebuilds the container image using
Dockerfile.realsense
in one of its layered stage. Rebuilding can take several minutes.
After the container image is rebuilt and you are inside the container, you can run
realsense-viewer
to verify that the RealSense camera is connected.
realsense-viewerIf you turn on the “Stereo Module” in the GUI, you should see something like the following:
