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 SDK version 2.55.1 and realsense-ros driver version 4.51.1-isaac. Any deviation from these versions will break Isaac ROS examples.

Note

The correct versions of the librealsense SDK and the realsense-ros driver are automatically installed in the docker container when specifying the RealSense image key as explained in the Setup Instructions.

Note

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

Note

The realsense-viewer tool has performance issues when running multiple cameras on the Jetson platforms. However the RealSense ROS drivers work fine with multiple cameras.

Setup Instructions

Note

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

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

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

   cd ${ISAAC_ROS_WS}/src && \
      git clone -b release-3.2 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common
   

3. Configure the container created by isaac_ros_common/scripts/run_dev.sh to include RealSense packages. Add the CONFIG_IMAGE_KEY to include librealsense SDK and realsense-ros in Isaac ROS Dev Docker. 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

4. 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 stages. Rebuilding can take several minutes.

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.

Note

The realsense-viewer tool requires a graphical environment, to use it you must connect the host to a monitor, use a remote desktop connection or similar.

realsense-viewer

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