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Isaac ROS 3.2
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‎isaac_ros_examples/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>isaac_ros_examples</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Utilities for launching example graphs of Isaac ROS packages</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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<license>Apache-2.0</license>
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<url type="website">https://developer.nvidia.com/isaac-ros/</url>
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<author>Jaiveer Singh</author>
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<build_depend>isaac_ros_common</build_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>

‎isaac_ros_multicamera_vo/config/multi_realsense.yaml‎

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%YAML 1.2
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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---
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common_params:
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enable_infra1: True
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enable_infra2: True
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enable_color: False
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enable_depth: False
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enable_rgbd: False
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enable_gyro: False
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enable_accel: False
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pointcloud.enable: False
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publish_tf: True
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enable_sync: True
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initial_reset: True
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rgb_camera.color_profile: '640,360,30'
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depth_module.infra_profile: '640,360,30'
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depth_module.enable_auto_exposure: True
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depth_module.emitter_enabled: 0
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cameras:
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- camera_name: camera1
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serial_no: '243222071526'
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usb_port_id: ''
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depth_module.inter_cam_sync_mode: 1
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- camera_name: camera2
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serial_no: '238222076390'
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usb_port_id: ''
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depth_module.inter_cam_sync_mode: 2

‎isaac_ros_multicamera_vo/foxglove_layouts/foxglove_layout_realsense.json‎

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{
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"configById": {
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"Image!3qezyf6": {
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"cameraState": {
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"distance": 20,
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"perspective": true,
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"phi": 60,
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"target": [
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],
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],
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"targetOrientation": [
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],
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"thetaOffset": 45,
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"fovy": 45,
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"near": 0.5,
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"far": 5000
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},
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"followMode": "follow-pose",
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"scene": {},
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"transforms": {},
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"topics": {},
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"layers": {},
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"publish": {
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"type": "point",
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"poseTopic": "/move_base_simple/goal",
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"pointTopic": "/clicked_point",
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"poseEstimateTopic": "/initialpose",
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"poseEstimateXDeviation": 0.5,
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"poseEstimateYDeviation": 0.5,
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"poseEstimateThetaDeviation": 0.26179939
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},
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"imageMode": {
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"imageTopic": "/camera1/infra1/image_rect_raw",
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"calibrationTopic": "/camera1/infra1/camera_info"
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}
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},
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"Image!3rc5faz": {
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"cameraState": {
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"distance": 20,
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"perspective": true,
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"phi": 60,
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],
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"thetaOffset": 45,
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"fovy": 45,
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"near": 0.5,
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"far": 5000
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},
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"followMode": "follow-pose",
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"scene": {},
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"transforms": {},
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"topics": {},
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"layers": {},
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"publish": {
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"type": "point",
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"poseTopic": "/move_base_simple/goal",
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"pointTopic": "/clicked_point",
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"poseEstimateTopic": "/initialpose",
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"poseEstimateXDeviation": 0.5,
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"poseEstimateYDeviation": 0.5,
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"poseEstimateThetaDeviation": 0.26179939
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},
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"imageMode": {
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"imageTopic": "/camera2/infra1/image_rect_raw",
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"calibrationTopic": "/camera2/infra1/camera_info"
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}
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},
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"3D!18i6zy7": {
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"layers": {
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"845139cb-26bc-40b3-8161-8ab60af4baf5": {
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"visible": true,
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"frameLocked": true,
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"label": "Grid",
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"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
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"layerId": "foxglove.Grid",
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"size": 10,
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"divisions": 10,
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"lineWidth": 1,
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"color": "#248eff",
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"position": [
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],
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"rotation": [
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"order": 1
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}
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},
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"cameraState": {
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"perspective": true,
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"distance": 8.802533372941202,
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"phi": 63.834320193910614,
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"thetaOffset": 68.73179120726562,
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"targetOffset": [
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],
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"target": [
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],
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],
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"fovy": 45,
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"far": 5000
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},
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"followMode": "follow-pose",
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"followTf": "odom",
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"scene": {
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"meshUpAxis": "z_up",
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"transforms": {
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"labelSize": 0.1
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}
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},
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"transforms": {
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"frame:base_link": {
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"visible": true
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},
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"frame:camera1_infra1_frame": {
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"visible": true
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},
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"frame:camera1_infra2_frame": {
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"visible": true
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},
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"frame:camera2_infra1_frame": {
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"visible": true
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},
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"frame:camera2_infra2_frame": {
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"visible": true
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}
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},
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"topics": {
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"/robot_description": {
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"visible": true
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},
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"/pointcloud": {
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"visible": false,
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"colorField": "z",
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"colorMode": "colormap",
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"colorMap": "turbo"
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},
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"/visual_slam/tracking/vo_path": {
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"visible": true,
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"lineWidth": 0.05,
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"gradient": [
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"#17c426ff",
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"#17c426ff"
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]
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},
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"/visual_slam/vis/observations_cloud": {
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"visible": true,
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"colorField": "rgb",
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"colorMode": "rgb",
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"colorMap": "turbo",
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"pointSize": 3
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},
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"/visual_slam/vis/landmarks_cloud": {
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"visible": true
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},
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"/camera1/infra1/image_rect_raw": {
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"visible": true,
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"frameLocked": true,
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"cameraInfoTopic": "/camera1/infra1/camera_info",
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"distance": 1,
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"planarProjectionFactor": 0,
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"color": "#ffffff"
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},
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"/camera2/infra1/image_rect_raw": {
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"visible": true,
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"frameLocked": true,
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"cameraInfoTopic": "/camera2/infra1/camera_info",
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"distance": 1,
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"planarProjectionFactor": 0,
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"color": "#ffffff"
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}
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},
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"publish": {
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"type": "pose",
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"poseTopic": "/goal_pose",
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"pointTopic": "/clicked_point",
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"poseEstimateTopic": "/initialpose",
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"poseEstimateXDeviation": 0.5,
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"poseEstimateYDeviation": 0.5,
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"poseEstimateThetaDeviation": 0.26179939
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},
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"imageMode": {}
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}
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},
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"globalVariables": {},
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"userNodes": {},
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"playbackConfig": {
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"speed": 1
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},
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"layout": {
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"direction": "row",
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"first": {
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"first": "Image!3qezyf6",
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"second": "Image!3rc5faz",
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"direction": "column"
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},
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"second": "3D!18i6zy7",
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"splitPercentage": 37.166666666666664
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}
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}

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