ROS Stereo

In this ROS sample, we present a warehouse scenario that contains the Carter robot with a stereo camera pair. To run the sample and visualize various ROS topics in RViz, please follow the below steps:

  1. Open the warehouse scenario by going to Isaac Examples -> Communicating -> ROS -> Stereo.

  2. Click on /World/Carter_ROS/ROS_Camera_Stereo_Right prim in Stage window and tick the enabled attribute within Property window.

ROS Stereo Property UI Window
  1. Press Play. Two viewports will open up. Place the viewports as shown below.

  1. In a new terminal, run rosrun rviz rviz -d ros_samples/stereo/config.rviz to load Rviz.

  2. Enable Left Camera - Depth, Right Camera - Depth, Right Camera - RGB and Left Camera - RGB within the Displays panel to visualize RGB and Depth images.

RViz UI Window

Note

If some of the images don’t show up on RViz, press Stop and Play in the simulator for the images to show up.

  1. In addition, a twist message can also be published to /cmd_vel topic to control the differential base robot. For example, to rotate in-place, send the following command rostopic pub /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.2}}'

Running in python directly (with manual stepping support)

See This Link on an alternate method of running this sample from python directly. The benefit of this approach is that you can manually control the timestep and rate at which things are published.