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Tutorial for NVBLOX with Isaac Sim

Overview

This tutorial walks you through generating a 3D reconstruction with nvblox using image and LiDAR data from Isaac Sim. The reconstruction is displayed as a 3D mesh in RVIZ. Nvblox also converts the reconstruction into a 2D costmap, which is fed into the Nav2 stack for path planning.

Last validated with Isaac Sim 2022.2.1.

Tutorial Walkthrough

  1. Complete the quickstart section in the main README.

  2. Launch the Docker container using the run_dev.sh script:

    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
  ./scripts/run_dev.sh

  3. Inside the container, build and source the workspace:

    cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install && \
  source install/setup.bash

  4. Install Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide

  5. Start the simulation by running the below command in a terminal outside the Docker container: The start_isaac_sim script is explained in detail here.

    alias omni_python='~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh' && \
  omni_python ~/workspaces/isaac_ros-dev/src/isaac_ros_nvblox/nvblox_examples/nvblox_isaac_sim/omniverse_scripts/start_isaac_sim.py

    Note: If you are using a different version of Isaac Sim, replace isaac_sim-2022.2.1 with your version found at '~/.local/share/ov/pkg/.

  6. Launch the pre-composed graph launchfile:

    ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py

  7. Click the 2D Goal Pose button. You should see the mesh and costmap, as well as the robot moving towards the goal location, as shown at the top of this page.