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NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Using camera Intel RealSense D435i as camera tracking #104

Open lycn2020 opened 1 year ago

lycn2020 commented 1 year ago

Hello, I am using on the last month jetson nano with Intel RealSense Tracking Camera T265 and CUAV v5+ on my quad drone for using it as Navigation when GPS signal not found or loss for some time using "vision_position_estimate" message that send it to Ardupilot via mavlink protocol and I found this error " T265: VISO jump detected" . Now I want to use Jetson AGX Xavier with Intel RealSense D435i as camera tracking to work as Intel RealSense Tracking Camera T265 and to give me position estimate data. How I can do it? any one help me . Thank you for your help!

swapnesh-wani-nvidia commented 1 year ago

Hello, in order to use your D435i for tracking, you could use Isaac ROS Visual Slam package. Take a look at this tutorial which shows how to use Intel RealSense camera.

lycn2020 commented 1 year ago

Thank you swapnesh-wani-nvidia I am using Isaac ROS Visual Slam package and I am running my camera using "ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py" code but when I move camera up and down i found this message "[visual_slam_node]: Visual tracking is lost" , I don't know why? . I want to read data position using python scripts . Thank you for your time .