Isaac ROS Mapping And Localization

Overview

Isaac ROS Mapping And Localization contains a list of ROS 2 packages for mapping and localization.

• Isaac ROS Visual Global Localization provides a robust and accurate visual global localization solution as a ROS 2 package for robots. Built on the cuVGL library, this package uses stereo cameras to estimate a device’s or robot’s position in an environment without prior knowledge of its location.

• Isaac Mapping ROS includes the core implementations of cuVGL and tools for converting rosbags to cuVGL format.

• Isaac ROS Visual Mapping is a ROS2 wrapper package for the visual mapping library to expose the built libraries and headers to ROS 2 ecosystem.

To learn more about cuVGL, refer to the Visual Global Localization documentation.

Quickstarts

• Isaac ROS Visual Global Localization

• Isaac Mapping ROS

• Isaac ROS Visual Mapping

Accuracy

Review the Visual Global Localization Metrics.

Packages

• isaac_mapping_ros
  • Overview
  • Installation
  • Tools
• isaac_ros_visual_global_localization
  • Overview
  • Quickstart
  • Try More Examples
  • Coordinate Frames
  • Troubleshooting
  • API
• isaac_ros_visual_mapping
  • Overview
  • cuVGL
  • Tools

Camera System Requirements

Review the Camera System Requirements.

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Jetson or an x86_64 system with an NVIDIA GPU.

Platform	Hardware	Software	Storage	Notes
Jetson	Jetson Orin	JetPack 6.1 and 6.2	128+ GB NVMe SSD	For best performance, ensure that power settings are configured appropriately.
x86_64	Ampere or higher NVIDIA GPU Architecture with 8 GB RAM or higher. CUDA 12.6+	Ubuntu 22.04+	32+ GB disk space available	N/A

Docker

To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following these steps. This streamlines your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms.

Note

All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite.

Customize your Dev Environment

To customize your development environment, reference this guide.

Commercial Support & Source Access

For commercial support and access to source code, please contact NVIDIA.

Updates

Date	Changes
2024-12-10	Initial release