12. Interfacing with Nvidia Isaac ROS GEMs¶
Isaac ROS provides individual packages (GEMs) and complete pipelines (NITROS) which include image processing and computer vision functionality that has been highly optimized for NVIDIA GPUs and Jetson platforms. While it is not a requirement to use Omniverse Isaac Sim with Isaac ROS, the two systems are compatible for some GEMs. Here are some examples of using Isaac ROS GEMs in conjuncture with Omniverse Isaac Sim.
12.1. Visual SLAM¶
Isaac ROS Visual SLAM provides a ROS2 package that performs stereo visual simultaneous localization and mapping (VSLAM) and estimates stereo visual inertial odometry using the Isaac Elbrus GPU-accelerated library.
Follow the instructions from Tutorial with Isaac Sim to setup both the workspace for Isaac ROS VSLAM and Isaac Sim.
Follow the instructions from Isaac Sim workarounds to ensure communication between Isaac ROS and Omniverse Isaac Sim, so that topics published by Omniverse Isaac Sim can be visible to all Isaac ROS vslam packages, and vice versa.
Multi-GPU setup is automatically enabled in Omniverse Isaac Sim, no special steps are needed if running on multiple GPUs.