Isaac ROS Image Pipeline
Overview
This metapackage offers similar functionality as the standard, CPU-based image_pipeline metapackage, but does so by leveraging the Jetson platform's specialized computer vision hardware. Considerable effort has been made to ensure that replacing image_pipeline with isaac_ros_image_pipeline on a Jetson device is as painless a transition as possible.
System Requirements
This Isaac ROS package is designed and tested to be compatible with ROS2 Foxy on Jetson hardware.
Jetson
- AGX Xavier or Xavier NX
- JetPack 4.6
x86_64
- CUDA 10.2/11.2 supported discrete GPU
- VPI 1.1.11
- Ubuntu 18.04+
Note: For best performance on Jetson, ensure that power settings are configured appropriately (Power Management for Jetson).
Docker
Precompiled ROS2 Foxy packages are not available for JetPack 4.6 (based on Ubuntu 18.04 Bionic). You can either manually compile ROS2 Foxy and required dependent packages from source or use the Isaac ROS development Docker image from Isaac ROS Common. The Docker images support both Jetson and x86_64 platfroms. The x86_64 docker image includes VPI Debian packages for CUDA 11.2.
You must first install the Nvidia Container Toolkit to make use of the Docker container development/runtime environment.
Configure nvidia-container-runtime as the default runtime for Docker by editing /etc/docker/daemon.json to include the following:
"runtimes": {
"nvidia": {
"path": "nvidia-container-runtime",
"runtimeArgs": []
}
},
"default-runtime": "nvidia"
and then restarting Docker: sudo systemctl daemon-reload && sudo systemctl restart docker
Run the following script in isaac_ros_common to build the image and launch the container:
$ scripts/run_dev.sh
You can either provide an optional path to mirror in your host ROS workspace with Isaac ROS packages, which will be made available in the container as /workspaces/isaac_ros-dev, or you can setup a new workspace in the container.
Package Dependencies
Note: isaac_ros_common is used for running tests and/or creating a development container. It also contains VPI Debian packages that can be installed natively on a development machine without a container.
Quickstart
- Create a ROS2 workspace if one is not already prepared:
mkdir -p your_ws/src
Note: The workspace can have any name; the quickstart assumes you name ityour_ws. - Clone this metapackage repository to
your_ws/src/isaac_ros_image_pipeline. Check that you have Git LFS installed before cloning to pull down all large files.
sudo apt-get install git-lfs
cd your_ws/src && git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline - Build and source the workspace:
cd your_ws && colcon build --symlink-install && source install/setup.bash - (Optional) Run tests to verify complete and correct installation:
colcon test - Start
isaac_ros_image_procusing the prebuilt executable:
ros2 run isaac_ros_image_proc isaac_ros_image_proc - In a separate terminal, spin up a calibrated camera publisher to
/image_rawand/camera_infousing any package(for example,v4l2_camera):
ros2 run v4l2_camera v4l2_camera_node - Observe the rectified image output in grayscale and color on
/image_rectand/image_rect_color, respectively:
ros2 run image_view image_view --ros-args -r image:=image_rect
ros2 run image_view image_view --ros-args -r image:=image_rect_color
Replacing image_pipeline with isaac_ros_image_pipeline
- Add a dependency on
isaac_ros_image_pipelinetoyour_package/package.xmlandyour_package/CMakeLists.txt. If all desired packages under an existingimage_pipelinedependency have Isaac ROS alternatives (see Supported Packages), then the originalimage_pipelinedependency may be removed entirely. - Change the package and plugin names in any
*.launch.pylaunch files to use[package name]andisaac_ros::image_proc::[component_name]respectively. For a list of all packages, see Supported Packages. For a list of all ROS2 Components made available, see the per-package detailed documentation below.
Supported Packages
At this time, the packages under the standard image_pipeline have the following support:
| Existing Package | Isaac ROS Alternative |
|---|---|
image_pipeline |
See isaac_ros_image_pipeline |
image_proc |
See isaac_ros_image_proc |
stereo_image_proc |
See isaac_ros_stereo_image_proc |
depth_image_proc |
On roadmap |
camera_calibration |
Continue using existing package |
image_publisher |
Continue using existing package |
image_view |
Continue using existing package |
image_rotate |
Continue using existing package |
See also:
isaac_ros_apriltag: Accelerated ROS2 wrapper for Apriltag detectionisaac_ros_common: Utilities for robust ROS2 testing, in conjunction withlaunch_test
Tutorial - Stereo Image Pipeline
- Connect a compatible Realsense camera (D435, D455) to your host machine.
- Build and source the workspace:
cd your_ws && colcon build --symlink-install && source install/setup.bash - Spin up the stereo image pipeline and Realsense camera node with the launchfile:
ros2 launch isaac_ros_stereo_image_proc isaac_ros_stereo_image_pipeline_launch.py
ROS2 Package API
isaac_ros_image_proc
Overview
The isaac_ros_image_proc package offers functionality for rectifying/undistorting images from a monocular camera setup, resizing the image, and changing the image format. It largely replaces the image_proc package, though the image format conversion facility also functions as a way to replace the CPU-based image format conversion in cv_bridge.
Available Components
| Component | Topics Subscribed | Topics Published | Parameters |
|---|---|---|---|
ImageFormatConverterNode |
image_raw, camera_info: The input camera stream |
image: The converted image |
backends: The VPI backend to use, which is CUDA by default (options: "CPU", "CUDA", "VIC") encoding_desired: Target encoding to convert to. Note: VIC does not support RGB8 and BGR8 for either input or output encoding. |
RectifyNode |
image, camera_info: The input camera stream |
image_rect: The rectified image |
interpolation: The VPI interpolation scheme to use during undistortion, which is Catmull-Rom Spline by default backends: The VPI backend to use, which is CUDA by default (options: "CUDA", "VIC") |
ResizeNode |
image, camera_info: The input camera stream |
resized/image, resized/camera_info: The resized camera stream |
use_relative_scale: Whether to scale in a relative fashion, which is true by default scale_height: The fraction to relatively scale height by scale_width: The fraction to relatively scale width by height: The absolute height to resize to width: The absolute width to resize to backends: The VPI backend to use, which is CUDA by default(options: "CPU", "CUDA", "VIC") |
isaac_ros_stereo_image_proc
Overview
The isaac_ros_stereo_image_proc package offers functionality for handling image pairs from a binocular/stereo camera setup, calculating the disparity between the two images, and producing a point cloud with depth information. It largely replaces the stereo_image_proc package.
Available Components
| Component | Topics Subscribed | Topics Published | Parameters |
|---|---|---|---|
DisparityNode |
left/image_rect, left/camera_info: The left camera stream right/image_rect, right/camera_info: The right camera stream |
disparity: The disparity between the two cameras |
max_disparity: The maximum value for disparity per pixel, which is 64 by default. With TEGRA backend, this value must be 256. window_size: The window size for SGM, which is 5 by default backends: The VPI backend to use, which is CUDA by default (options: "CUDA", "TEGRA") |
PointCloudNode |
left/image_rect_color: The coloring for the point cloud left/camera_info: The left camera info right/camera_info: The right camera info disparity The disparity between the two cameras |
points2: The output point cloud |
queue_size: The length of the subscription queues, which is rmw_qos_profile_default.depth by default use_color: Whether or not the output point cloud should have color. The default value is false. unit_scaling: The amount to scale the xyz points by |
Troubleshooting
RealSense camera issue with 99-realsense-libusb.rules
Some RealSense camera users have experienced issues with libusb rules.
Symptoms
admin@workstation:/workspaces/isaac_ros-dev$ ros2 launch realsense2_camera rs_launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2021-10-11-20-13-00-110633-UBUNTU-piyush-3480
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [3482]
[realsense2_camera_node-1] [INFO] [1633983180.596460523] [RealSenseCameraNode]: RealSense ROS v3.2.2
[realsense2_camera_node-1] [INFO] [1633983180.596526058] [RealSenseCameraNode]: Built with LibRealSense v2.48.0
[realsense2_camera_node-1] [INFO] [1633983180.596543343] [RealSenseCameraNode]: Running with LibRealSense v2.48.0
[realsense2_camera_node-1] 11/10 20:13:00,624 ERROR [139993561417472] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE
[realsense2_camera_node-1] [WARN] [1633983180.626359282] [RealSenseCameraNode]: Device 1/1 failed with exception: failed to set power state
[realsense2_camera_node-1] [ERROR] [1633983180.626456541] [RealSenseCameraNode]: The requested device with is NOT found. Will Try again.
[realsense2_camera_node-1] 11/10 20:13:00,624 ERROR [139993586595584] (sensor.cpp:517) acquire_power failed: failed to set power state
[realsense2_camera_node-1] 11/10 20:13:00,626 WARNING [139993586595584] (rs.cpp:306) null pointer passed for argument "device"
Solution
- Check if
99-realsense-libusb.rulesfile exists in/etc/udev/rules.d/ - If not, disconnect the camera, copy this file to
/etc/udev/rules.d/, then reconnect the camera.
Updates
| Date | Changes |
|---|---|
| 2021-10-20 | Migrated to NVIDIA-ISAAC-ROS. Fixed handling of extrinsics in Rectify and Disparity nodes. |
| 2021-08-11 | Initial release to NVIDIA-AI-IOT |
References
[1] D. Scharstein, H. Hirschmüller, Y. Kitajima, G. Krathwohl, N. Nesic, X. Wang, and P. Westling. High-resolution stereo datasets with subpixel-accurate ground truth. In German Conference on Pattern Recognition (GCPR 2014), Münster, Germany, September 2014.
Hi, I have a disparity image but when I run ros2 topic hz /points2, there is no output.
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