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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

PeopleSemSegnet Model

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sudo apt-get install -y ros-humble-isaac-ros-peoplesemseg-models-install &&
ros2 run isaac_ros_peoplesemseg_models_install install_peoplesemsegnet_vanilla.sh --eula &&
ros2 run isaac_ros_peoplesemseg_models_install install_peoplesemsegnet_shuffleseg.sh --eula

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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_unet isaac_ros_unet_tensor_rt_isaac_sim.launch.py engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/deployable_quantized_vanilla_unet_onnx_v2.0/1/model.plan input_binding_names:=['input_1:0']

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 rqt_image_view rqt_image_view

ROS topic list

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ros2 topic list

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/back_stereo_imu/imu
/chassis/imu
/chassis/odom
/clock
/cmd_vel
/dnn_image_encoder/converted/image
/dnn_image_encoder/converted/image/nitros
/dnn_image_encoder/crop/camera_info
/dnn_image_encoder/crop/camera_info/nitros
/dnn_image_encoder/crop/image
/dnn_image_encoder/crop/image/nitros
/dnn_image_encoder/crop/image/nitros/nitros_image_rgb8
/dnn_image_encoder/image_tensor
/dnn_image_encoder/image_tensor/nitros
/dnn_image_encoder/normalized_tensor
/dnn_image_encoder/normalized_tensor/nitros
/dnn_image_encoder/resize/camera_info
/dnn_image_encoder/resize/camera_info/nitros
/dnn_image_encoder/resize/image
/dnn_image_encoder/resize/image/nitros
/front_3d_lidar/lidar_points
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/camera_info/nitros
/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
/tensor_pub
/tensor_pub/nitros
/tensor_pub/nitros/nitros_tensor_list_nchw_bgr_f32
/tensor_sub
/tensor_sub/nitros
/tf
/unet/colored_segmentation_mask
/unet/colored_segmentation_mask/nitros
/unet/raw_segmentation_mask
/unet/raw_segmentation_mask/nitros

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_mono,rectify_mono,unet engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/deployable_quantized_vanilla_unet_onnx_v2.0/1/model.plan input_binding_names:=['input_1:0'] output_binding_names:=['argmax_1'] network_output_type:='argmax'

Reference