Project: Zero to SLAM

Project: Zero to SLAM

By Caian Benedicto

Summary

This video walks through the complete setup and usage of NVIDIA Isaac Sim with ROS 2 for SLAM and autonomous navigation. It covers:

  • Cloning and preparing the Zero-to-SLAM repository
  • Updating the system and installing NVIDIA drivers and CUDA
  • Downloading, installing, and configuring Omniverse and Isaac Sim
  • Setting up Nucleus and Cache servers
  • Installing and configuring Podman for container management
  • Building and testing the Zero-to-SLAM ROS 2 container
  • Installing and configuring RQt and joystick control tools
  • Manually driving a Turtlebot3 inside Isaac Sim using joystick teleoperation
  • Configuring Isaac Sim for ROS 2 integration and fixing ROS 2 bridge visibility
  • Importing the Zero-to-SLAM Omniverse scene into Nucleus
  • Exploring the imported robot and Action Graph setup
  • Driving the robot manually and publishing Twist messages
  • Running SLAM (Simultaneous Localization and Mapping) inside Omniverse
  • Running RViz, Nav2, and Slam Toolbox for navigation and map building
  • Saving, serializing, and reloading SLAM maps
  • Updating the environment dynamically and refining the SLAM maps with added obstacles
  • Running autonomous navigation using Nav2 goals inside Isaac Sim