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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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Visual SLAM in Isaac Gym (the Omniverse version) #74

Closed joehays closed 1 year ago

joehays commented 1 year ago

Hello,

Is there any support to be able to use the Visual SLAM capabilities from Isaac ROS Visual SLAM in parallel environments in Omniverse Sim/Gym? The ROS2 layer would have to be stripped away as it's not appropriate for the parallel Gym environments used during the RL training. Is this possible?

hemalshahNV commented 1 year ago

Possible, yes, but it would take some work to strip away the ROS 2 layer and integrate the same underlying libraries with Isaac Gym. Alternatively, you can integrate Isaac Gym and Isaac ROS through your own ROS 2 application.

joehays commented 1 year ago

ROS is inappropriate when I have over 10k parallel environments running in Isaac Gym. The power of Isaac Gym is only fully realized when all code runs on the GPU. Having ROS in the middle removes the primary performance benefits of Isaac Gym.

On Mon, Mar 6, 2023 at 2:00 PM Hemal Shah @.***> wrote:

Possible, yes, but it would take some work to strip away the ROS 2 layer and integrate the same underlying libraries with Isaac Gym. Alternatively, you can integrate Isaac Gym and Isaac ROS through your own ROS 2 application.

— Reply to this email directly, view it on GitHub https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam/issues/74#issuecomment-1456775610, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABAYEB2DBRPQBAC3AT4KWMTW2YX3JANCNFSM6AAAAAAVPB4B4M . You are receiving this because you authored the thread.Message ID: @.***>