rbonghi / isaac_roscon_demo

ROS2 Demo launch for ROScon 2022

isaac_roscon_demo

Demo docker for ROScon 2022

Hardware required

1. NVIDIA Jetson Orin/Xavier
2. Jetpack 5.0.2+
3. Realsense d435 (Other Realsenses should work, but I didn't test)
4. Display (connect to Jetson)
5. Keyboard (connect to Jetson)

Install

There are two steps to follow, Install FoxGlove and Install Isaac ROS

Foxglove

Download the latest foxglove version for ARM64

sudo apt install ./foxglove-studio-*.deb
sudo apt update
sudo apt install -y foxglove-studio

Fix realsense udev

cd $HOME
git clone https://github.com/IntelRealSense/librealsense.git
sudo cp librealsense/config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

After install the udev rules unplug and plug your realsense

Isaac ROS

Install essential software on host

sudo apt install -y git-lfs python3-vcstools
mkdir -p $HOME/isaac_ros-dev/ros_ws/src
cd $HOME/isaac_ros-dev/ros_ws/src
wget -L https://raw.githubusercontent.com/rbonghi/isaac_roscon_demo/main/demo.rosinstall -o demo.rosinstall

Make workspace folder and pull all packages

cd $HOME/isaac_ros-dev/ros_ws
vcs import src < demo.rosinstall
vcs pull src

Config Isaac ROS common to build realsense example image

cd $HOME/isaac_ros-dev/ros_ws/src/isaac_ros_common
cp docker/realsense-dockerfile-example/.isaac_ros_common-config scripts/

Build and run docker image

cd $HOME/isaac_ros-dev/ros_ws/src/isaac_ros_common
bash scripts/run_dev.sh $HOME/isaac_ros-dev/ros_ws

Docker

From this stage you work mainly from the docker container, if your are not on your docker container watch the installation above

Build ROS2 packages

Run from docker container

colcon build --symlink-install --merge-install

Convert model

Following isaac_ros_dnn_stereo_disparity convert the DNN stereo disparity model

/opt/nvidia/tao/tao-converter -k ess -t fp16 -e /workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity/resources/ess.engine -o output_left /workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity/resources/ess.etlt

Run

Launch script from docker container

source install/setup.bash
ros2 launch isaac_roscon_demo demo.launch.py

Setup foxglove

1. Open foxglove
2. Set up Open connection

3. Select ROS2 and Open

4. Select /disparity_view

5. Final output

How it is works

Troubleshooting

If when you run the script scripts/run_dev.sh you read this error

docker: Error response from daemon: Conflict. The container name "/isaac_ros_dev-aarch64-container" is already in use by container "c9138a240269375558c2e7586e69bc41b6b40e478b29b1fb8ca53af781fea0dc". You have to remove (or rename) that container to be able to reuse that name.
See 'docker run --help'.
~/isaac_ros-dev/ros_ws/src/isaac_ros_common

run

docker system prune