コンテンツにスキップ

Apritag Detection

Isaac SIMの起動

1
export ROS_DOMAIN_ID=1

Isaac SIMを起動。起動時にROS Bridgeを設定する。

Jetson側のROSの設定

1
2
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

1
2
3
sudo apt update
sudo apt-get install -y ros-humble-nova-developer-kit-bringup 
source /opt/ros/humble/setup.bash

Jetson側のコマンド

apritag detection起動用とrviz2起動用に、Terminalを2つだしておく。

1
ros2 launch isaac_ros_apriltag isaac_ros_apriltag_isaac_sim_pipeline.launch.py

1
rviz2 -d $(ros2 pkg prefix isaac_ros_apriltag --share)/rviz/default.rviz

ROS topic list

1
ros2 topic list

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
/back_stereo_imu/imu
/chassis/imu
/chassis/odom
/clock
/cmd_vel
/front_3d_lidar/lidar_points
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/image_rect_color
/front_stereo_camera/left/image_rect_color/nitros
/front_stereo_camera/right/camera_info
/front_stereo_camera/right/image_rect_color
/front_stereo_imu/imu
/left_stereo_imu/imu
/parameter_events
/right_stereo_imu/imu
/rosout
/tag_detections
/tf

Orin Nova Developer Kitのカメラの場合

1
2
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

1
2
3
sudo apt-get update
sudo apt-get install -y ros-humble-isaac-ros-apriltag
sudo apt-get install -y ros-humble-isaac-ros-examples ros-humble-isaac-ros-argus-camera

1
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=argus_mono,rectify_mono,apriltag

Reference