7) AD-R1M and cuVSLAM setup

Up to this point, the NVIDIA Docker container has been configured with all required dependencies for running cuVSLAM with a RealSense camera. To enable full integration of cuVSLAM on the AD-R1M platform, a few additional configuration steps are necessary.

The following steps should be run on the AGX Orin platform. Open a new terminal and run the following commands:

Todo

Remember to add the github link bellow

cd $ISAAC_ROS_WS
git clone **ADD adrd_demo_ros2 REPO LINK HERE**
cp -r src/adrd_demo_ros2/ad_r1m_cuvslam/* src/isaac-ros-common/docker

This step copies the additional Dockerfiles and entrypoint scripts required to install extra dependencies inside the container and to enable proper communication between the NVIDIA Docker environment and the AD-R1M platform.

These changes ensure that the container can successfully run zenoh using mDNS, which is necessary for discovering and communicating with the robot (ad-r1m-0) over Ethernet.

Go to the scripts folder in the isaac-ros-common package:

cd /src/isaac_ros_common/scripts
Modify the run_dev.sh script from $ISAAC_ROS_WS/src/isaac_ros_common as follows:

  • Look for the following lines of code

BASE_NAME="isaac_ros_dev-$PLATFORM"
if [[ ! -z "$CONFIG_CONTAINER_NAME_SUFFIX" ]] ; then
    BASE_NAME="$BASE_NAME-$CONFIG_CONTAINER_NAME_SUFFIX"
fi
CONTAINER_NAME="$BASE_NAME-container"

# Remove any exited containers.
if [ "$(docker ps -a --quiet --filter status=exited --filter name=$CONTAINER_NAME)" ]; then
    docker rm $CONTAINER_NAME > /dev/null
fi

  • Insert the following lines after BASE_NAME=”isaac_ros_dev-$PLATFORM”. This ensures that intermediate images are not left unnamed and that each image is tagged based on the Dockerfiles used in the build process:

if [[ ! -z "$IMAGE_KEY" && "$IMAGE_KEY" != "ros2_humble" ]]; then
IMAGE_KEY_SAFE="${IMAGE_KEY//./-}"   # replace dots with dashes
BASE_NAME="${BASE_NAME}-${IMAGE_KEY_SAFE}"
fi

  • In order to automatically configure Zenoh at startup, set the necessary Docker container environment variables:

docker run -it --rm \
    -e ROS_NAMESPACE=ad_r1m_0 \
    -e RMW_IMPLEMENTATION=rmw_zenoh_cpp \
    -e ROBOT_TCP_NAME=ad-r1m-0 \
    -e ZENOH_CONFIG_OVERRIDE="connect/endpoints=[\"tcp/ad-r1m-0.local:7447\"];mode=\"client\"" \
    --privileged \
    --network host \
    --ipc=host \
    "${DOCKER_ARGS[@]}" \
    -v "$ISAAC_ROS_DEV_DIR":/workspaces/isaac_ros-dev \
    -v /etc/localtime:/etc/localtime:ro \
    --name "$CONTAINER_NAME" \
    --runtime nvidia \
    --entrypoint /usr/local/bin/scripts/workspace-entrypoint.sh \
    --workdir /workspaces/isaac_ros-dev \
    "$BASE_NAME" \
    /bin/bash

After completing all these steps, you can build the updated Docker image by running:

cd $ISAAC_ROS_WS/src/isaac_ros_common
./scripts/run_dev.sh -i ros2_humble.realsense.visualslam

This command creates a new image layer on top of the base Docker image provided by NVIDIA, incorporating all additional dependencies and configuration changes.

You can then launch a new container instance from this updated image using the same script:

cd $ISAAC_ROS_WS/src/isaac_ros_common
./scripts/run_dev.sh -i ros2_humble.realsense.visualslam