There was a big market in Rome for luxury goods from India and the East, but overland trade and travel to India was obstructed by the Arabs until Augustus came along. According to the Oxford Classical Dictionary (OCD 3rd ed. revised), "the Arab obstruction was removed by the great appetite of Rome for eastern luxuries in the prosperous days of Augustus, and by the discovery of open-sea routes from Aden to India. In the 1st cent. BC, or soon after, observation of the monsoon encouraged mid-ocean routes leading to various points on the western coast [of India] where settlements were subsequently established."
Roman trade with India was extensive. "In Augustus' day 120 ships sailed to India every year, and under his early successors the drain on Roman money to pay for Indian imports caused occasional anxiety..." (OCD) "...The principle imports to Rome were perfumes, spices (especially pepper), gems, ivory, pearls, Indian textiles, and Chinese silk."
The main trade was apparently with the Pandya kingdoms on the west coast of India. Evidence for this trade is still being uncovered today. For example, in 2015, The Hindu reported that "an excavation in Keezhadi, Sivaganga district, has thrown up a wealth of information on the flourishing Pandya trade with the west." The excavation can be viewed in this June 2016 video (no English version available).
The whole area of Roman contacts with India is difficult to research because of the language barrier. The next video's a good example. The slides are fantastic, but the speaker's hard to understand and the closed-captions are a joke.
Related: The Leek-Green Sea.