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DNN Image Segmentation

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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sudo apt-get install -y ros-humble-isaac-ros-detectnet \
    ros-humble-isaac-ros-dnn-image-encoder \
    ros-humble-isaac-ros-triton
sudo apt-get install -y ros-humble-isaac-ros-examples ros-humble-isaac-ros-argus-camera

Jetson側のコマンド(Terminal1)

Isaac SIMの起動しているPCのROS_DOMAIN_IDと同じIDを指定します。

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export ROS_DOMAIN_ID=1

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ros2 launch isaac_ros_ess isaac_ros_ess_isaac_sim.launch.py \
   engine_file_path:=${ISAAC_ROS_WS:?}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/ess.engine \
   threshold:=0.4

Jetson側のコマンド(Terminal2)

Isaac SIMの起動しているPCのROS_DOMAIN_IDと同じIDを指定します。

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export ROS_DOMAIN_ID=1

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

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ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py

ROS topic list

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ros2 topic list

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/back_stereo_imu/imu
/camera_info
/camera_info/nitros
/chassis/imu
/chassis/odom
/clock
/cmd_vel
/disparity
/disparity/nitros
/front_3d_lidar/lidar_points
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/camera_info/nitros
/front_stereo_camera/left/camera_info_resize
/front_stereo_camera/left/camera_info_resize/nitros
/front_stereo_camera/left/image_rect_color
/front_stereo_camera/left/image_rect_color/nitros
/front_stereo_camera/left/image_resize
/front_stereo_camera/left/image_resize/nitros
/front_stereo_camera/right/camera_info
/front_stereo_camera/right/camera_info/nitros
/front_stereo_camera/right/camera_info_resize
/front_stereo_camera/right/camera_info_resize/nitros
/front_stereo_camera/right/image_rect_color
/front_stereo_camera/right/image_rect_color/nitros
/front_stereo_camera/right/image_resize
/front_stereo_camera/right/image_resize/nitros
/front_stereo_imu/imu
/left_stereo_imu/imu
/parameter_events
/points2
/points2/nitros
/right_stereo_imu/imu
/rosout
/tf

Orin Nova Developer Kitのカメラの場合

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

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sudo apt-get update
sudo apt-get install -y ros-humble-isaac-ros-examples \
    ros-humble-isaac-ros-argus-camera

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sudo apt-get install -y ros-humble-isaac-ros-examples ros-humble-isaac-ros-argus-camera

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ros2 launch isaac_ros_examples isaac_ros_examples.launch.py \
    launch_fragments:=argus_stereo,rectify_stereo,ess_disparity \
    engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/ess.engine \
    threshold:=0.4

Reference