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.

• 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.

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

• 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

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-3.3 git@github.com:NVIDIA-ISAAC-ROS/validation-isaac_ros_common.git isaac_ros_common
   

3. Launch the Docker container using the run_dev.py script with the realsense environment. This includes librealsense SDK and realsense-ros in the Isaac ROS Dev Docker:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.py -d ${ISAAC_ROS_WS} --env base --env ros2_humble --env realsense

Note

If the Docker image is not available locally or on the registry, you can add the --build-local flag to build it locally.

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

4. 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, verify that you have something like the following: