Demo Applications

Isaac cuVSLAM includes applications that demonstrate Stereo Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) using recorded data in POD files with stereo camera images and IMU readings.

• extensions/vslam/apps/test_hawk.yaml: This application replays a recorded POD file and runs the cuVSLAM tracker on images and IMU data from a Hawk stereo camera (i.e. it reads data from the HAWK_0 device in the POD file).

  To build and run the cuVSLAM tracker, use the following command:

            

            
bob@desktop:~/isaac/sdk$ dazel run //extensions/vslam/apps:test_hawk -- --param=replayer.pod_replayer/file/file_path=<pod-file>
        

• extensions/vslam/apps/test_rs.yaml: This application performs the same task as the above application, but with a Realsense camera (i.e. it reads images and IMU data from the D455_1 device in the POD file).

• extensions/vslam/apps/hawk_tracker.yaml: This application runs the cuVSLAM tracker on the Carter robot using its Hawk stereo camera.

            

            
cd isaac/sdk/ &&
../engine/engine/build/deploy.py -b bazel
                                 -r <hostname_of_carter>
                                 -c jetpack51
                                 -t //extensions/vslam/apps/hawk_tracker
        

Replace <hostname_of_carter> with the host name of the Carter robot you want to deploy the app to.

SSH into the Carter robot:

            

            
ssh nvidia@<hostname_of_carter>
        

Run the app:

            

            
cd ~/deploy/<YOUR_USER_NAME>/hawk_tracker-pkg
./extensions/vslam/apps/run_hawk_tracker
        

While the application is running, open Isaac Sight in a browser by navigating to http://localhost:3000 using a web browser on the same local network. If you are running the application on a Jetson device, use the IP address of the Jetson system instead of localhost.