Tutorial for Visual SLAM Using a HAWK Camera

Overview

This tutorial walks you through setting up Isaac ROS Visual SLAM with a Hawk camera.

Tutorial Walkthrough - VSLAM Execution

Complete the Hawk setup tutorial.
Complete the VSLAM quickstart here.

[Terminal 1] Inside the container, install the dependencies:

sudo apt-get update

sudo apt-get install -y \
   ros-humble-isaac-ros-correlated-timestamp-driver \
   ros-humble-isaac-ros-hawk \
   ros-humble-isaac-ros-image-proc \
   ros-humble-isaac-ros-imu-bmi088

[Terminal 1] Run the launch file inside the container and wait for 5 seconds:
```
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_hawk.launch.py
```
[Terminal 2] In a second terminal check that the VSLAM node is publishing the odometry messages.

Attach another terminal to the running container for issuing other ROS 2 commands.
```
cd ${ISAAC_ROS_WS}/src/isaac_ros_common
./scripts/run_dev.sh
```
Verify that you are getting the output from the visual_slam node at the same rate as the input.
```
ros2 topic hz /visual_slam/tracking/odometry --window 20
```

Typically, if you are running visual_slam on Jetson, it is recommended that you NOT evaluate with live visualization.