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_0device 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_1device 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.
Deploy the App
cd isaac/sdk/ && ../engine/engine/build/deploy.py -b bazel -r <hostname_of_carter> -c jetpack51 -t //extensions/vslam/apps/hawk_tracker
<hostname_of_carter> with the host name of the Carter robot you want to
deploy the app to.
Run the App
SSH into the Carter robot:
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