Skip to content

Commit 9b3730d

Browse files
jaiveersinghNVjaiveersinghNV
committed
Isaac ROS 3.0.1
1 parent 8d7f280 commit 9b3730d

File tree

4 files changed

+137
-82
lines changed

4 files changed

+137
-82
lines changed

‎isaac_ros_visual_slam/launch/isaac_ros_visual_slam_isaac_sim.launch.py‎

Lines changed: 8 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -22,43 +22,14 @@
2222

2323
def generate_launch_description():
2424
"""Launch file which brings up visual slam node configured for Isaac Sim."""
25-
image_format_converter_node_left = ComposableNode(
26-
package='isaac_ros_image_proc',
27-
plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
28-
name='image_format_node_left',
29-
parameters=[{
30-
'encoding_desired': 'mono8',
31-
'image_width': 1920,
32-
'image_height': 1200
33-
}],
34-
remappings=[
35-
('image_raw', 'front_stereo_camera/left_rgb/image_raw'),
36-
('image', 'front_stereo_camera/left_rgb/image_raw_mono')]
37-
)
38-
image_format_converter_node_right = ComposableNode(
39-
package='isaac_ros_image_proc',
40-
plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
41-
name='image_format_node_right',
42-
parameters=[{
43-
'encoding_desired': 'mono8',
44-
'image_width': 1920,
45-
'image_height': 1200
46-
}],
47-
remappings=[
48-
('image_raw', 'front_stereo_camera/right_rgb/image_raw'),
49-
('image', 'front_stereo_camera/right_rgb/image_raw_mono')]
50-
)
5125
visual_slam_node = ComposableNode(
5226
name='visual_slam_node',
5327
package='isaac_ros_visual_slam',
5428
plugin='nvidia::isaac_ros::visual_slam::VisualSlamNode',
55-
remappings=[('visual_slam/image_0', 'front_stereo_camera/left_rgb/image_raw_mono'),
56-
('visual_slam/camera_info_0',
57-
'front_stereo_camera/left_rgb/camerainfo'),
58-
('visual_slam/image_1', 'front_stereo_camera/right_rgb/image_raw_mono'),
59-
('visual_slam/camera_info_1',
60-
'front_stereo_camera/right_rgb/camerainfo')
61-
],
29+
remappings=[('visual_slam/image_0', 'front_stereo_camera/left/image_rect_color'),
30+
('visual_slam/camera_info_0', 'front_stereo_camera/left/camera_info'),
31+
('visual_slam/image_1', 'front_stereo_camera/right/image_rect_color'),
32+
('visual_slam/camera_info_1', 'front_stereo_camera/right/camera_info')],
6233
parameters=[{
6334
'use_sim_time': True,
6435
'enable_image_denoising': True,
@@ -75,10 +46,10 @@ def generate_launch_description():
7546
namespace='',
7647
package='rclcpp_components',
7748
executable='component_container',
78-
composable_node_descriptions=[visual_slam_node,
79-
image_format_converter_node_left,
80-
image_format_converter_node_right],
81-
output='screen'
49+
composable_node_descriptions=[
50+
visual_slam_node,
51+
],
52+
output='screen',
8253
)
8354

8455
return launch.LaunchDescription([visual_slam_launch_container])

‎isaac_ros_visual_slam/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>isaac_ros_visual_slam</name>
24-
<version>3.0.0</version>
24+
<version>3.0.1</version>
2525
<description>Visual SLAM Package</description>
2626
<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
2727
<license>Apache-2.0</license>

‎isaac_ros_visual_slam/rviz/isaac_sim.cfg.rviz‎

Lines changed: 127 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ Panels:
1111
- /Localizer1/Localizer Map1
1212
- /Odometry1/Shape1
1313
Splitter Ratio: 0.7441176176071167
14-
Tree Height: 255
14+
Tree Height: 343
1515
- Class: rviz_common/Selection
1616
Name: Selection
1717
- Class: rviz_common/Tool Properties
@@ -52,44 +52,86 @@ Visualization Manager:
5252
Frame Timeout: 15
5353
Frames:
5454
All Enabled: false
55-
back_2d_lidar:
56-
Value: false
55+
back_fisheye_camera:
56+
Value: true
57+
back_fisheye_camera_optical:
58+
Value: true
59+
back_stereo_camera:
60+
Value: true
61+
back_stereo_camera_imu:
62+
Value: true
63+
back_stereo_camera_left:
64+
Value: true
65+
back_stereo_camera_left_optical:
66+
Value: true
67+
back_stereo_camera_right:
68+
Value: true
69+
back_stereo_camera_right_optical:
70+
Value: true
5771
base_link:
5872
Value: true
73+
chassis_imu:
74+
Value: true
5975
chassis_link:
6076
Value: true
6177
front_2d_lidar:
6278
Value: false
6379
front_3d_lidar:
6480
Value: false
65-
front_stereo_camera:imu:
66-
Value: false
67-
front_stereo_camera:left_rgb:
81+
front_fisheye_camera:
6882
Value: true
69-
front_stereo_camera:right_rgb:
83+
front_fisheye_camera_optical:
84+
Value: true
85+
front_stereo_camera:
86+
Value: true
87+
front_stereo_camera_imu:
88+
Value: true
89+
front_stereo_camera_left:
90+
Value: true
91+
front_stereo_camera_left_optical:
92+
Value: true
93+
front_stereo_camera_right:
94+
Value: true
95+
front_stereo_camera_right_optical:
96+
Value: true
97+
left_fisheye_camera:
98+
Value: true
99+
left_fisheye_camera_optical:
100+
Value: true
101+
left_stereo_camera:
102+
Value: true
103+
left_stereo_camera_imu:
104+
Value: true
105+
left_stereo_camera_left:
106+
Value: true
107+
left_stereo_camera_left_optical:
108+
Value: true
109+
left_stereo_camera_right:
110+
Value: true
111+
left_stereo_camera_right_optical:
70112
Value: true
71-
left_stereo_camera:imu:
72-
Value: false
73-
left_stereo_camera:left_rgb:
74-
Value: false
75-
left_stereo_camera:right_rgb:
76-
Value: false
77113
map:
78114
Value: true
79115
odom:
80116
Value: true
81-
rear_stereo_camera:imu:
82-
Value: false
83-
rear_stereo_camera:left_rgb:
84-
Value: false
85-
rear_stereo_camera:right_rgb:
86-
Value: false
87-
right_stereo_camera:imu:
88-
Value: false
89-
right_stereo_camera:left_rgb:
90-
Value: false
91-
right_stereo_camera:right_rgb:
92-
Value: false
117+
rear_2d_lidar:
118+
Value: true
119+
right_fisheye_camera:
120+
Value: true
121+
right_fisheye_camera_optical:
122+
Value: true
123+
right_stereo_camera:
124+
Value: true
125+
right_stereo_camera_imu:
126+
Value: true
127+
right_stereo_camera_left:
128+
Value: true
129+
right_stereo_camera_left_optical:
130+
Value: true
131+
right_stereo_camera_right:
132+
Value: true
133+
right_stereo_camera_right_optical:
134+
Value: true
93135
Marker Scale: 1
94136
Name: TF
95137
Show Arrows: true
@@ -99,37 +141,79 @@ Visualization Manager:
99141
map:
100142
odom:
101143
base_link:
102-
back_2d_lidar:
144+
back_fisheye_camera:
145+
{}
146+
back_fisheye_camera_optical:
147+
{}
148+
back_stereo_camera:
149+
{}
150+
back_stereo_camera_imu:
151+
{}
152+
back_stereo_camera_left:
153+
{}
154+
back_stereo_camera_left_optical:
155+
{}
156+
back_stereo_camera_right:
157+
{}
158+
back_stereo_camera_right_optical:
159+
{}
160+
chassis_imu:
103161
{}
104162
chassis_link:
105163
{}
106164
front_2d_lidar:
107165
{}
108166
front_3d_lidar:
109167
{}
110-
front_stereo_camera:imu:
168+
front_fisheye_camera:
169+
{}
170+
front_fisheye_camera_optical:
171+
{}
172+
front_stereo_camera:
173+
{}
174+
front_stereo_camera_imu:
175+
{}
176+
front_stereo_camera_left:
177+
{}
178+
front_stereo_camera_left_optical:
179+
{}
180+
front_stereo_camera_right:
181+
{}
182+
front_stereo_camera_right_optical:
183+
{}
184+
left_fisheye_camera:
185+
{}
186+
left_fisheye_camera_optical:
187+
{}
188+
left_stereo_camera:
189+
{}
190+
left_stereo_camera_imu:
191+
{}
192+
left_stereo_camera_left:
193+
{}
194+
left_stereo_camera_left_optical:
111195
{}
112-
front_stereo_camera:left_rgb:
196+
left_stereo_camera_right:
113197
{}
114-
front_stereo_camera:right_rgb:
198+
left_stereo_camera_right_optical:
115199
{}
116-
left_stereo_camera:imu:
200+
rear_2d_lidar:
117201
{}
118-
left_stereo_camera:left_rgb:
202+
right_fisheye_camera:
119203
{}
120-
left_stereo_camera:right_rgb:
204+
right_fisheye_camera_optical:
121205
{}
122-
rear_stereo_camera:imu:
206+
right_stereo_camera:
123207
{}
124-
rear_stereo_camera:left_rgb:
208+
right_stereo_camera_imu:
125209
{}
126-
rear_stereo_camera:right_rgb:
210+
right_stereo_camera_left:
127211
{}
128-
right_stereo_camera:imu:
212+
right_stereo_camera_left_optical:
129213
{}
130-
right_stereo_camera:left_rgb:
214+
right_stereo_camera_right:
131215
{}
132-
right_stereo_camera:right_rgb:
216+
right_stereo_camera_right_optical:
133217
{}
134218
Update Interval: 0
135219
Value: true
@@ -469,7 +553,7 @@ Visualization Manager:
469553
Durability Policy: Volatile
470554
History Policy: Keep Last
471555
Reliability Policy: Reliable
472-
Value: /front_stereo_camera/left_rgb/image_raw
556+
Value: /front_stereo_camera/left/image_rect_color
473557
Value: true
474558
- Class: rviz_default_plugins/Image
475559
Enabled: true
@@ -483,7 +567,7 @@ Visualization Manager:
483567
Durability Policy: Volatile
484568
History Policy: Keep Last
485569
Reliability Policy: Reliable
486-
Value: /front_stereo_camera/right_rgb/image_raw
570+
Value: /front_stereo_camera/right/image_rect_color
487571
Value: true
488572
Enabled: true
489573
Global Options:
@@ -554,12 +638,12 @@ Visualization Manager:
554638
Window Geometry:
555639
Displays:
556640
collapsed: false
557-
Height: 946
641+
Height: 1099
558642
Hide Left Dock: false
559643
Hide Right Dock: true
560644
Left Image:
561645
collapsed: false
562-
QMainWindow State: 000000ff00000000fd00000004000000000000021d0000035cfc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001e6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650200000403000002880000037d00000228fb0000000a0049006d00610067006502000001fc000002110000058400000296fb0000000a0049006d00610067006503000006fe000005e200000433000001fffb00000014004c00650066007400200049006d0061006700650100000227000000b60000002800fffffffb000000160052006900670068007400200049006d00610067006501000002e3000000b40000002800ffffff00000001000001b40000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000055d0000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
646+
QMainWindow State: 000000ff00000000fd00000004000000000000021d000003f5fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000023e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650200000403000002880000037d00000228fb0000000a0049006d00610067006502000001fc000002110000058400000296fb0000000a0049006d00610067006503000006fe000005e200000433000001fffb00000014004c00650066007400200049006d006100670065010000027f000000d70000002800fffffffb000000160052006900670068007400200049006d006100670065010000035c000000d40000002800ffffff00000001000001b40000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000055d000003f500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
563647
Right Image:
564648
collapsed: false
565649
Selection:
@@ -570,4 +654,4 @@ Window Geometry:
570654
collapsed: true
571655
Width: 1920
572656
X: 0
573-
Y: 27
657+
Y: 240

‎isaac_ros_visual_slam_interfaces/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>isaac_ros_visual_slam_interfaces</name>
24-
<version>3.0.0</version>
24+
<version>3.0.1</version>
2525
<description>Interfaces for Isaac ROS Visual SLAM</description>
2626
<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
2727
<license>Apache-2.0</license>

0 commit comments

Comments
 (0)