rnanosaur / nanosaur_isaac_ros

🍏 Nanosaur ISAAC ROS integration

🍏 nanosaur_isaac_ros

THIS PROJECT IS ARCHIVED!

This demo introduce to Isaac ROS and show a demo with the Apriltag detection.

Follow the blog post: Designing Robots with NVIDIA Isaac GEMs for ROS

Now nanosaur use natively Isaac ROS, please follow nanosaur_perception

To learn more on Isaac ROS:

• https://developer.nvidia.com/isaac-ros-gems
• https://info.nvidia.com/isaac-ros-and-nvidia-jetson-wbn.html
• https://github.com/rbonghi/isaac_ros_tutorial

Develop

Build docker

. nanosaur_isaac_ros/scripts/build_isaac_ros.sh 

Run docker

docker run --rm -it --network host -v /usr/share/vpi1:/usr/share/vpi1 -v /opt/nvidia:/opt/nvidia nanosaur/follower:latest

Edit docker

docker run --rm -it --network host -v /usr/share/vpi1:/usr/share/vpi1 -v /opt/nvidia:/opt/nvidia -v $HOME/nanosaur_isaac_ros:/opt/ros_ws/src/nanosaur_isaac_ros nanosaur/follower:latest bash

CPU version

docker build -t nanosaur/follower:cpu -f Dockerfile.cpu .

docker run --rm -it --network host nanosaur/follower:cpu

Rebuild packages

Rebuild all packages: colcon build --symlink-install

Publish

Remember to login before run this script!

. nanosaur_isaac_ros/scripts/push_isaac_ros.sh 

reference

• ISAAC ROS apriltag
• ISAAC ROS common
• ISAAC ROS image pipeline
• Add VPI for build on Jetson https://forums.developer.nvidia.com/t/vpi-installation-error-in-docker-container/160254/3