Jetson inference

[vijayreddysamula]

Hi, Dusty, I am working Jetson Orin AGX developer kit. I encountered a small problem after building the ros image. The container doesn't have jetson inference and jetson utils. But I tried cloning the jetson inference and it always shows webrtc error. I don't want to build a jetson inference again, so I wrote the docker file with the jetson inference image as the base and installed ros2. But there I can see the ros2 topic list but not able to subscribe.

[dusty-nv]

Hi @vijayreddysamula, which version of jetpack-l4t are you running? (you can check this with cat /etc/nv_tegra_release)

You can build the ros:pytorch container (which has ros_deep_learning installed and uses jetson-inference as base) with jetson-containers scripts/docker_build_ros.sh --distro=humble --with-pytorch

[vijayreddysamula]

Hi Dusty, I am using L4t r34.1.1. I tried jetson-containers with the above script using foxy, but i got following error pull access denied for jetpack, repository does not exist or may require 'docker login': denied: requested access to the resource is denied

[dusty-nv]

Hi @vijayreddysamula, IIRC the l4t-jetpack base container for L4T R34.1.1 wasn't released - L4T R34.1.1 was a Developer Preview release and you should upgrade it (i.e. to the latest - currently JetPack 5.1.1 / L4T R35.3.1)

[jiefengsun]

Hi @vijayreddysamula, which version of jetpack-l4t are you running? (you can check this with cat /etc/nv_tegra_release)

You can build the ros:pytorch container (which has ros_deep_learning installed and uses jetson-inference as base) with jetson-containers scripts/docker_build_ros.sh --distro=humble --with-pytorch

@dusty-nv This means we can directly do inference in the same node by calling imagenet API from jetson-interface. Is this a solution to avoid nodelet?

[dusty-nv]

@jiefengsun in ROS2 it doesn't use nodelets, but yes. Isaac ROS also has zero-copy transport between nodes (NITROS) https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros