Prerequisites

These instructions are based on kernel version 35.3.1 and Jetpack 5.1.1

If you have not already installed the OS with the custom device tree. Please see Installing the OS from binaries.

1. Install Jetpack:

   sudo apt update
   sudo apt install nvidia-jetpack

2. Restart the Docker service and add your user to the docker group:

   sudo systemctl restart docker
   sudo usermod -aG docker $USER
   newgrp docker

3. Add default runtime in /etc/docker/daemon.json:

   sudo apt install nano
   sudo nano /etc/docker/daemon.json

   Insert the following:

   {
       "runtimes": {
           "nvidia": {
               "path": "nvidia-container-runtime",
               "runtimeArgs": []
           }
   -   }
   +   },
   +   "default-runtime": "nvidia"
   }

4. Restart docker:

   sudo systemctl daemon-reload && sudo systemctl restart docker

5. Install Git LFS in order to pull down all large files:

   sudo apt-get install git-lfs
   git lfs install --skip-repo

Getting started with Isaac ROS2 on the Jetson

First ensure your github user credentials are set and your ssh public key has been added to your github account.

1. Clone the workspace:

   mkdir -p  ~/workspaces/
   git clone --recurse-submodules git@github.com:ARK-Electronics/isaac_ros-dev.git ~/workspaces/isaac_ros-dev/

2. Update your ~/.bashrc:

   echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
   source ~/.bashrc

3. Start the docker container for the first time. This will download a lot of images so be prepared to wait:

   ./run_docker.sh

If all goes well, you should now find yourself inside of a docker container configured for development.

admin@jake-nvidia:/workspaces/isaac_ros-dev$

You are now ready to build all of the packages in this workspace. This will take a long time the first time you do it:

colcon build --symlink-install

Once the build is complete exit the docker container, sync the filesystem, and reboot the jetson.

exit
sync
sudo reboot

Isaac ROS VSLAM with RealSense D455i and PX4

These are instructions for setting up the RealSense D455i to use as a full solution for VSLAM integrated with PX4

1. Clone the librealsense repo setup udev rules. Remove any connected RealSense cameras when prompted:

   cd /tmp && \
   git clone https://github.com/IntelRealSense/librealsense && \
   cd librealsense && \
   ./scripts/setup_udev_rules.sh

2. Ensure Realsense 455i firmware is 5.13.0.50. You can update the firmware by following the Realsense documentation. You must use USB3 to update the realsense firmware. USB3 is also reccomended for operation due to the increased data rate.

3. Copy the ros-nodes.service into systemd. This service will launch the isaac_ros_visual_slam realsense node, the foxglove bridge, a gstreamer pipeline, and a node to convert the VSLAM solution into the PX4 vehicle_visual_odometry message.

sudo cp ros-nodes.service /etc/systemd/system/ && sudo systemctl enable ros-nodes.service

4. Enable the service and reboot

sudo systemctl enable ros-nodes.service && sudo reboot