NVIDIA® Jetson™ AGX Orin and NVIDIA® Isaac™ ROS Visual SLAM Integration

This section covers integration of the AD-R1M robot with NVIDIA Jetson AGX Orin and Isaac™ ROS Visual SLAM for advanced localization and mapping capabilities.

Overview

The NVIDIA Jetson AGX Orin integration extends the AD-R1M platform with GPU-accelerated visual SLAM capabilities using Isaac ROS Visual SLAM. This enables:

• Real-time visual-inertial odometry

• GPU-accelerated point cloud processing

• Enhanced localization accuracy

• Integration with Nav2 navigation stack

Requirements

• NVIDIA® Jetson™ AGX Orin Developer Kit

• NVIDIA® JetPack™ 6.2.1 or later

• Intel® RealSense™ D455 Camera

• AD-R1M Robot Platform

Getting Started

Follow the setup guides in order:

• 1) Linux installation on NVIDIA® Jetson™ AGX Orin
• 2) Setup required packages on NVIDIA® Jetson™ AGX Orin
• 3) Setup NVIDIA® Isaac™ ROS on AGX Orin
• 4) Setup NVIDIA® Isaac™ ROS Visual SLAM
• 5) NVIDIA® Isaac™ ROS Visual SLAM and Intel® RealSense™ setup and usage on NVIDIA Jetson™ AGX Orin
• 6) AD-R1M and NVIDIA® Jetson™ AGX Orin: hardware setup
• 7) AD-R1M and NVIDIA® Isaac™ ROS Visual SLAM setup
• 8) Launching AD-R1M and NVIDIA® Isaac™ ROS Visual SLAM
• 9) Map building for NAV2
• 10) AD-R1M Gazebo simulation