Apriltag Detection
Jetson(Terminal1)
| cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
|
| sudo apt update
sudo apt-get install -y ros-humble-nova-developer-kit-bringup
source /opt/ros/humble/setup.bash
|
| sudo apt-get install -y ros-humble-isaac-ros-apriltag
sudo apt-get install -y ros-humble-isaac-ros-examples ros-humble-isaac-ros-realsense
|
| ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,apriltag
|
Jetson(Terminal2)
| cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
|
| rviz2 -d $(ros2 pkg prefix isaac_ros_apriltag --share)/rviz/default.rviz
|
Warning
動作は1fps〜2fps程度。RealsenseのUSB経由での映像転送で大きく性能がfpsが遅くなる。
Reference