Tutorial_for_visual_slam_with_isaac_sim

Tutorial for Visual SLAM with Isaac Sim

Overview

This tutorial walks you through a graph to estimate 3D pose of the camera with Visual SLAM using images from Isaac Sim
(1)Complete the quickstart
=> Already Done
(2)Clone isaac_ros_common and this repository under ${ISAAC_ROS_WS}/src

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh

(3)Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide
=> Already Done
(3)-1 Install Isaac Sim, choosing the appropriate working environment:
=>Native
(3)-2 Follow the Running Native ROS instructions to ensure that ROS 2 and the required packages are installed to successfully enable the ROS 2 Bridge in Omniverse Isaac Sim
=>Already Done
(3)-3 Follow the instructions to launch Isaac Sim App Selector window
=>Already Done
(3)-4 If you don’t have a system level ROS 2 install, follow the steps outlined here under ROS2 -> No system level install -> Humble
=>Already Done
(3)-5 Launch Isaac Sim

./isaac-sim.sh

(3)-6 Open Isaac ROS Sample scene as shown below

(3)-7 Continue with the next steps in your specific Isaac ROS package tutorial
(4)Press Play to start publishing data from the Isaac Sim

(5)In a separate terminal, start isaac_ros_visual_slam using the launch files:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&   ./scripts/run_dev.sh ${ISAAC_ROS_WS}
sudo apt-get install -y ros-humble-isaac-ros-visual-slam
source /workspaces/isaac_ros-dev/install/setup.bash
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_isaac_sim.launch.py

(6)In a separate terminal, send the signal to move the robot about as follows:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&   ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

(7)In a separate terminal, spin up RViz with default configuration file to see the rich visualizations as the robot moves

cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&   ./scripts/run_dev.sh ${ISAAC_ROS_WS}
rviz2 -d src/isaac_ros_visual_slam/isaac_ros_visual_slam/rviz/isaac_sim.cfg.rviz

Change the frame id to odom

(8)To see the odometry messages, in a separate terminal echo the contents of the /visual_slam/tracking/odometry topic with the following command:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&   ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /visual_slam/tracking/odometry

=> Nothing came out

Saving and Using the Map

As soon as you start the visual SLAM node, it starts storing the landmarks and the pose graph
You can save them in a map and store the map onto a disk
Make a call to the SaveMap ROS 2 Action with the following command:

ros2 action send_goal /visual_slam/save_map isaac_ros_visual_slam_interfaces/action/SaveMap "{map_url: /home/rosexpert1/workspaces/isaac_ros-dev/src/VisualSLAM}"

Error:

Reference:
https://nvidia-isaac-ros.github.io/concepts/visual_slam/cuvslam/tutorial_isaac_sim.html