Isaac ROS RealSense Setup

Camera Compatibility

RealSense Model	Supported?
D455	✓
D435i	✓
D415	✗

Note

It is required to use RealSense firmware version 5.13.0.50, librealsense version 2.55.1 and RealSense camera ROS driver version 4.51.1. Any deviation from these versions will break Isaac ROS examples.

Note

For best results we suggest increasing the maximum Linux kernel receive buffer size as detailed here.

Setup Instructions

Note

This tutorial assumes that you have completed the instructions in Developer Environment Setup.

1. Clone the realsense-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 -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common
git clone https://github.com/IntelRealSense/realsense-ros.git -b 4.51.1

Note

Plug in your RealSense camera before launching the Docker container in the next step.

2. Configure the container created by isaac_ros_common/scripts/run_dev.sh to include librealsense and realsense2-camera. Create the .isaac_ros_common-config file in the isaac_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

3. Launch the Docker container:

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

This rebuilds the container image using Dockerfile.realsense in one of its layered stage. Rebuilding can take several minutes.

4. Build the realsense_splitter and realsense2* packages:

   cd ${ISAAC_ROS_WS} && \
   colcon build --symlink-install --packages-up-to-regex realsense*
   

5. 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-viewer

If you turn on the “Stereo Module” in the GUI, you should see something like the following: