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NVIDIA-ISAAC-ROS / isaac_ros_apriltag

NVIDIA-accelerated Apriltag detection and pose estimation.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
107 stars 19 forks source link

realsense support ? jammy support? neither? #19

Closed AndreV84 closed 1 year ago

AndreV84 commented 1 year ago

is it possible to use with reealsense d400 camera? with OS upgraded to jammy? both? neither of the two ?

gordongrigor commented 1 year ago

AprilTag package should work with D400 provided the image topic is properly formatted from the D400 camera for AprilTag input. We have tested with D455 and D435.

Isaac ROS support for Ubuntu 22.04 support is targeted for 2H-2023.

AndreV84 commented 1 year ago

@gordongrigor Thank you for following up! any chance you could share steps how to integrate realsense node into existing focal humble container that you supply? so we could run the apriltags with inputs from d400?

AndreV84 commented 1 year ago

@gordongrigor could you extend, how exactly did you run nvidia ros apriltags , please? using isaac_ros_apriltag package? the one that is dockerized with humble focal environment? if so how did you run realsense node on it? otherwise which other environment have you used?

gordongrigor commented 1 year ago

Guidance you are looking for is provided online tutorials.

https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/realsense-setup.md https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag/blob/main/docs/tutorial-usb-cam.md

AndreV84 commented 1 year ago

@gordongrigor Thank you for your response. Could you extend if it [ https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/realsense-setup.md ]is applicable to this current nvidia apriltags humble focal container release. please? or you had in mind other ros like foxy when pointed to the url?

AndreV84 commented 1 year ago

folks point out that running container every time utilizes the run_dev script which is very time consuming as it rebuilds everything on startup in a way you published it it is very slow on startup as a result is there any easy fix for it so second and consequent runs are fast?

hemalshahNV commented 1 year ago

When launching the Isaac ROS Dev base container, it runs rosdep --install to make sure you have all of the packages for your specific ROS workspace available. Second and subsequent invocations of run_dev.sh will attach to the same launched container rather than launching a new one and should be instantaneous.

AndreV84 commented 1 year ago

we were able to use the instruction on AGX Jetson Xavier 5.0.2 in a way the realsense camera worked with apriltags or nvblox integration as it seems However trying right now to implement it on AGX Orin devkit the build of the container gets stuck at building realsense step


-- Configuring incomplete, errors occurred!
See also "/root/librealsense/build/CMakeFiles/CMakeOutput.log".
See also "/root/librealsense/build/CMakeFiles/CMakeError.log".
Building librealsense, headers, tools and demos
make: *** No targets specified and no makefile found.  Stop.

real    0m0.002s
user    0m0.000s
sys     0m0.002s
librealsense did not build 
Retrying ... 
make: *** No targets specified and no makefile found.  Stop.

real    0m0.002s
user    0m0.002s
sys     0m0.000s
librealsense did not successfully build
Please fix issues and retry build
The command '/bin/bash -c chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh' returned a non-zero code: 1
Failed to build base image: isaac_ros_dev-aarch64, aborting.
hemalshahNV commented 1 year ago

@AndreV84 , could you post more of the log where build-librealsense.sh failed? It isn't clear why building librealsense from source failed but it might be something else missing. We have not seen this yet locally but our setup may be different than yours.