Visual_slam_record

Record Visual SLAM

Overview

This tutorial walks you through a graph to estimate 3D pose of the camera with Visual SLAM using images from Isaac Sim
(1)Launch Ros2 Common container

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

(2)See Topics

ros2 topic list

(3)Record the topics that are being subscribed

ros2 bag record -o slam1 /clicked_point /clock /cmd_vel /front_3d_lidar/point_cloud /front_stereo_camera/imu/data /front_stereo_camera/left_rgb/camerainfo /front_stereo_camera/left_rgb/image_raw /front_stereo_camera/right_rgb/camerainfo /front_stereo_camera/right_rgb/image_raw /goal_pose /initialpose /left_stereo_camera/imu/data /odom /parameter_events /rear_stereo_camera/imu/data /right_stereo_camera/imu/data /rosout /tf /tf_static /visual_slam/tracking/odometry /visual_slam/tracking/slam_path /visual_slam/tracking/vo_path /visual_slam/vis/gravity /visual_slam/vis/gravity_array /visual_slam/vis/landmarks_cloud /visual_slam/vis/loop_closure_cloud /visual_slam/vis/observations_cloud /visual_slam/vis/pose_graph_edges /visual_slam/vis/pose_graph_edges2 /visual_slam/vis/pose_graph_edges2_array /visual_slam/vis/pose_graph_edges_array /visual_slam/vis/pose_graph_nodes /visual_slam/vis/velocity

ros2 bag record -o slam2 /clicked_point /clock /cmd_vel /front_3d_lidar/point_cloud /front_stereo_camera/imu/data /front_stereo_camera/left_rgb/camerainfo /front_stereo_camera/left_rgb/image_raw /front_stereo_camera/right_rgb/camerainfo /front_stereo_camera/right_rgb/image_raw /goal_pose /initialpose /left_stereo_camera/imu/data /odom /parameter_events /rear_stereo_camera/imu/data /right_stereo_camera/imu/data /rosout /tf /tf_static /visual_slam/tracking/odometry /visual_slam/tracking/slam_path /visual_slam/tracking/vo_path /visual_slam/vis/gravity /visual_slam/vis/gravity_array /visual_slam/vis/landmarks_cloud /visual_slam/vis/loop_closure_cloud /visual_slam/vis/observations_cloud /visual_slam/vis/pose_graph_edges /visual_slam/vis/pose_graph_edges2 /visual_slam/vis/pose_graph_edges2_array /visual_slam/vis/pose_graph_edges_array /visual_slam/vis/pose_graph_nodes /visual_slam/vis/velocity

(4)Display information about a ROS 2 bag file

ros2 bag info slam1 

ros2 bag info slam2

(5)Play the recorded Ros2 bag file

ros2 bag play slam1 

(6)Check by echoing the message

ros2 bag echo /visual_slam/tracking/odometry