Carter Open Loop

The Carter Open Loop app runs Nvblox on the Carter robot in open-loop mode (i.e. Nvblox runs reconstruction, but it is not used for navigation purposes).

First, SSH into the robot:

            

            
ssh nvidia@<hostname_of_carter>
        

Run the Open Loop app:

            

            
docker run -it --gpus all --rm --network=host --privileged \
  -v /dev:/dev \
  -v /sys:/sys \
  -v /tmp:/tmp \
  nvcr.io/nvstaging/isaac-amr/nvblox_carter_open_loop_app:<IMAGE_TAG>
        

You should be able to control the robot with a joystick and build an Nvblox reconstruction.

By default the app will use the front realsense for reconstruction. To use the hawk you can pass the flag –camera hawk. To configure the type of depth used, pass –depth ess (default) or –depth sgm.

In your browser, open <hostname_of_carter>:3000 for visualizing the reconstruction.

For development, it is useful to run apps without generating Docker images:

            

            
cd isaac/sdk/ &&
./../engine/engine/build/deploy.py -b dazel
                                   -r <hostname_of_carter>
                                   -c jetpack51
                                   -t //extensions/nvblox/apps/carter_open_loop:nvblox_carter_open_loop_app
        

Replace the -r argument with the host name of the carter robot you want to deploy the app to.

SSH into the robot:

            

            
ssh nvidia@<hostname_of_carter>
        

Run the app:

            

            
cd ~/deploy/<YOUR_USER_NAME>/carter_open_loop/
./run_nvblox_carter_open_loop_app.sh
        

See above for the optional flags you can pass to the run script.