コンテンツにスキップ

Bi3D

Isaac SIMの起動

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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

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

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

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mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets/models/bi3d_proximity_segmentation && \
cd ${ISAAC_ROS_WS}/isaac_ros_assets/models/bi3d_proximity_segmentation && \
wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/2.0.0/files/featnet.onnx' &&
wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/2.0.0/files/segnet.onnx'

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sudo apt-get install -y ros-humble-isaac-ros-bi3d

Jetson側のコマンド

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export ROS_DOMAIN_ID=1

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ros2 launch isaac_ros_bi3d isaac_ros_bi3d_isaac_sim.launch.py \
featnet_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/bi3d_proximity_segmentation/featnet.plan segnet_engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/bi3d_proximity_segmentation/segnet.plan

Reference