nvblox with a different depth-sensing camera than RealSense

[nhathout]

Platform: Ubuntu 22.04, not a Jetson system though just a Dell laptop with a NVIDIA RTX 3500 GPU

I am currently trying to use nvblox, specifically an altered version of the realsense example, using an ORBBEC Gemini 2 L camera instead. I have remapped topics that nvblox uses accordingly, as well as added the camera to "NvbloxCamera enum", but still seem to be getting errors. Is there any way someone could provide the files or locations where edits are necessary to adapt nvblox to work with another camera? The reason I am also asking this is because the more time I spend digging and trying to get this to work, the more directories I find with same (or very similar) names, so I am just never sure if I am editing enough to make this compatible and work (or if it will even work).

At this point I don't care too much about quality issues, I would just like to see the nodes connected properly in rqt.

If it helps I am also testing this using the command:
ros2 launch nvblox_examples_bringup gemini2L_example.launch.py
where the gemini2L_example.launch.py is my custom launch file specific to the camera I am using.

Also, I am not using a splitter, just merely trying to remap and get the nvblox node connected to my camera node.

[alexmillane]

I've not used the Orbec camera, but for the purposes of this answer, I'll assume that it's a 1:1 drop-in for the Realsense.

To make this work with the minimal changes, I would replace the realsense driver here with the Orbec driver, and then remap the topics to match the realsense outputs exactly. In this configuration, nvblox will think it's operating from a realsense camera, but will be using the Orbec. If the assumption holds that the Orbec is a 1:1 replacement, this should work.

[nhathout]

Ok, I believe I have already tried this and ran into issues (as the realsense camera feed into a realsense_splitter node, but I will try this again)

Thanks

[nhathout]

Update, @alexmillane, none of the visualization works, nor do the links to or from nvblox, rviz, or vslam, (which could be naming issues).

These are the terminal outputs when I try to run the realsense example with just changing the launch file. I don't know if you could help, but in the meantime I will be completely changing the file configurations and such to account for the orbbec camera.