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Tutorial to Run NITROS-Accelerated Graph with Argus Camera
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.. mermaid::

   graph LR;
       argus_node("ArgusStereoNode (Raw Image)") --> left_encoder_node("EncoderNode (Compressed Image)");
       argus_node --> right_encoder_node("EncoderNode (Compressed Image)");

In this tutorial, you perform H.264 encoding
using an :ir_repo:`Argus-compatible camera <isaac_ros_argus_camera>`
and an :ir_repo:`isaac_ros_h264_encoder <isaac_ros_compression>`.
Then you save the compressed images into a rosbag.

1. Follow the quickstart :ref:`here <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index:quickstart>` up to
   step 6.

2. Inside the container, install the ``isaac_ros_argus_camera`` package.

   :ir_apt:

   .. code:: bash

      sudo apt-get install -y ros-humble-isaac-ros-argus-camera

3. Run the launch file. This launch file launches the example and
   records ``CompressedImage`` and ``CameraInfo`` topic data into a
   rosbag in your current folder.

   .. code:: bash

      ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder_argus.launch.py

4. (Optional) If you want to decode and visualize the images from the
   rosbag, you can place the recorded rosbag into an x86 machine
   equipped with NVIDIA GPU, then follow steps 7 and 8 in the
   :ref:`Quickstart section <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index:quickstart>`. (Change the rosbag path and
   input dimension accordingly in step 7):

   .. code:: bash

      ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=<"path to your rosbag folder">

   For example, the result looks like:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/compression/h264/argus_example.png>`
      :align: center