Perception AUV

Parent repository including launch files for Perception related packages.

External package dependencies are managed using a dependencies.repos file and the ROS-standard vcs tool.

Launch

Main launch command to launch all Perception AUV related packages.

# launch with --show-args to print out all available launch arguments
ros2 launch perception_setup perception.launch.py

See perception_setup/README.md for more information.

Isaac ROS Developer Environment

Set up your system using the official NVIDIA Isaac ROS Developer Environment guide: https://nvidia-isaac-ros.github.io/v/release-3.2/getting_started/dev_env_setup.html

Expected workspace structure

Development is assumed to take place inside:

~/workspaces/isaac_ros-dev/src

Dependencies

This project requires additional repositories, which are listed in the .repos files.

Install dependencies

Install vcstool if it is not already available:

sudo apt update
sudo apt install -y python3-vcstool

Run vcs import from the workspace src/ directory. This assumes the perception-auv repository has already been cloned into src/.

Using HTTPS:

vcs import < perception-auv/dependencies.https.repos

Using SSH:

vcs import < perception-auv/dependencies.ssh.repos

After importing all repositories, initialize all git submodules recursively from the ~/workspaces/isaac_ros-dev/src/ directory:

for d in */; do (cd "$d" && git submodule update --init --recursive); done

Development Environment (Docker)

Prerequisite: All repository dependencies must be installed (see Dependencies).

From the workspace root (~/workspaces/isaac_ros-dev/):

./src/isaac_ros_common/scripts/run_dev_rosdep.sh

This starts the Isaac ROS Docker dev environment.

If you are offline or want to skip rebuilding the Docker image:

./src/isaac_ros_common/scripts/run_dev_rosdep.sh --skip_image_build

Host SDK Access (Docker)

Host-installed SDKs (e.g. ZED, Spinnaker) are made available to the Docker development container via Docker arguments defined in the isaac_ros_common repository:

isaac_ros_common/scripts/.isaac_ros_dev-dockerargs

This file specifies required volume mounts, device access, and environment variables. Update it as needed to expose additional SDKs or hardware before starting the Docker environment.

See the Isaac ROS documentation for more details: https://nvidia-isaac-ros.github.io/v/release-3.2/concepts/docker_devenv/index.html#development-environment

Camera configuration

Realsense D555

• Camera IP: 10.0.0.67
• Subnet Mask: 255.255.255.0

Ensure your computer is on the same subnet (e.g., 10.0.0.x, excluding 10.0.0.67).