Tutorial for cuVGL Localization =============================== Localization by using Isaac Perceptor ------------------------------------- If you want to use cuVGL in ROS 2 along with Isaac Perceptor, please follow the :doc:`/reference_workflows/isaac_perceptor/tutorial_mapping_and_localization` for more details. Use Global Localization Node in ROS 2 ------------------------------------- You can use cuVGL in ROS 2 without using Isaac Perceptor. You can: * directly include the :ir_repo:`visual_global_localization.include.launch ` in your launch file * use the following command to launch the localization node .. code-block:: bash ros2 launch visual_global_localization isaac_ros_visual_global_localization_node.launch.py See :doc:`/repositories_and_packages/isaac_ros_mapping_and_localization/isaac_ros_visual_global_localization/index` to build or install the package. This launches the localization node with the default parameters. You can change the parameters by modifying the ``include/visual_global_localization.launch.py`` file or by passing the parameters as arguments, for details see :doc:`/repositories_and_packages/isaac_ros_mapping_and_localization/isaac_ros_visual_global_localization/index`. Use cuVGL in C++ ---------------- The :doc:`isaac_ros_visual_global_localization ` ROS 2 package serves as a demonstration for using the cuVGL libraries, see the source code GitHub: :ir_github:` `