Using Realsense Camera (i.e. D455) in Isaac Sim

Status
Open

Goal:

Demonstrate how to configure and simulate the Intel Realsense camera (or generic RGB-D cameras) in Isaac Sim.

Outline:

  • Quick intro to simulated sensors in Isaac Sim.
  • Add a D455 camera to a robot.
  • Configure RGB, depth, and IR streams.
  • Export and visualize data.
  • Stream camera data to ROS2 for use in RViz or SLAM pipelines.

Demo:

  • Mount a D455 on a mobile robot.
  • Show RGB and depth feeds side by side.
  • Publish camera topics to ROS2 and visualize in RViz.

Takeaway:

Viewers will be able to simulate depth cameras in Isaac Sim, export their data, and integrate them into robotics perception stacks.