SGM Stereo Disparity

Isaac SIMの起動

export ROS_DOMAIN_ID=1

Isaac SIMを起動。起動時にROS Bridgeを設定する。

Jetson側のROSの設定

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

sudo apt update
sudo apt-get install -y ros-humble-nova-developer-kit-bringup 
source /opt/ros/humble/setup.bash

sudo apt-get install -y  ros-humble-isaac-ros-image-proc ros-humble-isaac-ros-stereo-image-proc

Jetson側のコマンド

export ROS_DOMAIN_ID=1

ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_isaac_sim.launch.py

Reference

• Tutorial with Isaac Sim
• isaac_ros_stereo_image_proc
• Isaac Sim Tutorials