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Tutorial for Visual SLAM using a Depthai OAK Camera

Overview

This tutorial walks you through setting up Isaac ROS Visual SLAM with a Luxonis OAK camera.

Tutorial Walkthrough - VSLAM execution

Most of the steps overlap with Realsense setup. Main differences include setting up Docker image for use with the cameras.

  1. Clone this repository and its dependencies under ${ISAAC_ROS_WS}/src.

    cd ${ISAAC_ROS_WS}/src
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros

  2. Clone depthai and xacro repositories to the workspace

    cd ${ISAAC_ROS_WS}/src
git clone --branch ros-release https://github.com/luxonis/depthai-core
git clone --branch humble https://github.com/luxonis/depthai-ros
git clone --branch ros2 https://github.com/ros/xacro

  3. Setup udev rules on host

    echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

  4. Setup configuration for docker creation

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \
touch .isaac_ros_common-config && \
echo CONFIG_IMAGE_KEY=ros2_humble.depthai > .isaac_ros_common-config && \
touch .isaac_ros_dev-dockerargs && \
echo "-v /dev/bus/usb:/dev/bus/usb" > .isaac_ros_dev-dockerargs

  5. Run the docker image

        isaac_ros_container

    Or if you did not add the command in step 1-3 of the quickstart section:

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

  6. When inside the container, build the workspace:

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

  7. Run launch file for the camera

        ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_depthai.launch.py

  8. depthai-ros-driver allows for a large amount of customization using parameters. Example parameters can be found in isaac_ros_visual_slam/params.depthai.yaml