Tutorial with Isaac Sim

Overview

This tutorial demonstrates how to perform depth-camera based reconstruction using the disparity_node and stereo image pairs streamed from Isaac Sim.

Tutorial Walkthrough

1. Complete the isaac_ros_stereo_image_proc quickstart.

2. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide.

3. Activate the Isaac ROS environment and install rviz2:

   isaac-ros activate
   

   sudo apt-get install -y ros-jazzy-rviz2
   

   Source the setup file.

   source /opt/ros/jazzy/setup.bash
   

4. Press Play to start publishing data from the Isaac Sim.

   

5. In a separate terminal, start the isaac_ros_stereo_image_proc graph using the launch files:

   ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_isaac_sim.launch.py
   

   You should see a RViz window, as shown below: