isaac_ros_nvblox

Source code on GitHub.

A meta-package containing the relevant nvblox ROS 2 packages.

Quickstart

Set Up Development Environment

  1. Set up your development environment by following the instructions in getting started.

  2. Clone isaac_ros_common under ${ISAAC_ROS_WS}/src.

    cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common

  3. (Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

    Warning

    We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the Isaac ROS Dev container during installation, which will interrupt the quickstart process.

Download Quickstart Assets

Download quickstart data from NGC:

Make sure required libraries are installed.

sudo apt-get install -y curl jq tar

Then, run these commands to download the asset from NGC:

NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_nvblox"
NGC_RESOURCE="isaac_ros_nvblox_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=3
MINOR_VERSION=1
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r "
    .recipeVersions[]
    | .versionId as \$v
    | \$v | select(test(\"^\\\\d+\\\\.\\\\d+\\\\.\\\\d+$\"))
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber}
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION)
    | \$v
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\
versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

Set Up isaac_ros_nvblox

There are two options for installing nvblox: installation from Debian, and installation from source.

  1. Launch the Docker container using the run_dev.sh script:

    cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh

  2. Install isaac_ros_nvblox and its dependencies.

    sudo apt update &&
sudo apt-get install -y ros-humble-isaac-ros-nvblox && \
rosdep update && \
rosdep install isaac_ros_nvblox

Run Example Launch File

Run the example with:

ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False

You should see the robot reconstructing a mesh, with the 2d ESDF slice overlaid on top.

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/basic_example_rviz.png/

Try More Examples

To continue your exploration, check out the following suggested nvblox examples:

Launch file

Description

isaac_sim_example.launch.py

Example to run with Isaac Sim (tutorial)

realsense_example.launch.py

Example to run with a RealSense camera (tutorial)

zed_example.launch.py

Example to run with a ZED camera (tutorial)

API

Troubleshooting