Package 'isaac_ros_occupancy_grid_localizer' not found

[AlfonGio]

Hi,

I have been trying to learn ISAAC ROS specifically for mapping (slam) and navigating robot using Jetson Orin Nano Devkit. By following the quick start guide, I have managed to run the Docker but package occupancy_grid_localizer was not in the workspace. As I am new with Docker as well, how can I download the occupancy_grid_localizer launch file to try the example?

Error message:

List of package in the workspace:

Thank you.

[ashwinvkNV]

Hi,

There seems to be some discrepancies between the screenshots that you attached and the quickstart steps.

1. step 1 creates a directory named "src" where all the source code is cloned. This "src" directory is not seen in the screenshot you attached.
2. step 2 clones the isaac_ros_map_localization repository, which is not seen in the screenshot you attached.

Can you confirm that you followed the exact steps in the quickstart? If yes, can you attach screenshots after each step?

[AlfonGio]

Hi,

There seems to be some discrepancies between the screenshots that you attached and the quickstart steps.

1. step 1 creates a directory named "src" where all the source code is cloned. This "src" directory is not seen in the screenshot you attached.

2. step 2 clones the isaac_ros_map_localization repository, which is not seen in the screenshot you attached.

Can you confirm that you followed the exact steps in the quickstart? If yes, can you attach screenshots after each step?

Hi @ashwinvkNV , thank you for the reply.

Yes, I believe I have followed the quickstart. Here is the screenshots:

• Step 2: src directory already created and all the required repo was cloned.

• Step 3 - 4: there were no errors occurs

• Step 5: Inside the docker, there were no errors during build process but as seen on the picture above, there was no isaac_ros_map_localization package in it.

Or should I launch it outside the docker?

Thank you.

[ashwinvkNV]

Got it. Thanks for the screenshot outside the docker container.

should I launch it outside the docker: No you should launch it within the docker container.

I believe the step you are doing different from the quickstart in specifically Step 2. Are you doing cd /ssd/workspaces/isaac_ros-dev/src instead of cd ~/workspaces/isaac_ros-dev/src?

If this is true, then the steps are not exactly the same as the quickstart and that is why it fails.

The fix for this is to replace Step 4 with:

cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
  ./scripts/run_dev.sh /ssd/workspaces/isaac_ros-dev

Note: This mounts the directory /ssd/workspaces/isaac_ros-dev within the docker container instead of the default ~/workspaces/isaac_ros-dev/src. Details are here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/scripts/run_dev.sh#L27-L36

[AlfonGio]

I see, yes because add additional ssd.

After following your suggestion, I was able to run all the steps except the map didn't shown in the rviz. If I see from the terminal output, the map was supposed to be successfully loaded.

This is the rviz view

[AlfonGio]

After retrying several times, the map indeed shown in the rviz. Thank you for the help @ashwinvkNV