Quickstart for GPU-Accelerated VSLAM in NVIDIA Isaac Sim (See Prerequisites)
# Launch Isaac Sim ~/.local/share/ov/pkg/isaac_sim-2023.1.1/isaac-sim.sh# Launch Isaac ROS Docker container and enter terminal cd ${ISAAC_ROS_WS}/src/isaac_ros_common && scripts/run_dev.sh # Install Isaac ROS Visual SLAM package for ROS Humble sudo apt-get install -y ros-humble-isaac-ros-visual-slam # Launch Visual SLAM ROS node for Isaac Sim ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_isaac_sim.launch.py# Run command from root of this repository rviz2 -d ./rviz/isaac_sim.cfg.rvizros2 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}}"ros2 topic list/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 /left_stereo_camera/imu/data /odom /parameter_events /rear_stereo_camera/imu/data /right_stereo_camera/imu/data /rosout /tf /tf_static /visual_slam/imu /visual_slam/status /visual_slam/tracking/odometry /visual_slam/tracking/slam_path /visual_slam/tracking/vo_path /visual_slam/tracking/vo_pose /visual_slam/tracking/vo_pose_covariance /visual_slam/vis/gravity /visual_slam/vis/landmarks_cloud /visual_slam/vis/localizer /visual_slam/vis/localizer_loop_closure_cloud /visual_slam/vis/localizer_map_cloud /visual_slam/vis/localizer_observations_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_nodes /visual_slam/vis/slam_odometry /visual_slam/vis/velocity