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

   graph LR;
       argus_node("ArgusMonoNode (Raw Image)") --> rectify_node("RectifyNode (Rectified Image)");
       rectify_node --> apriltag_node("AprilTagNode (AprilTag Detection)");

If you have an 
:ir_repo:`Argus-compatible camera <isaac_ros_argus_camera>`,
you can also use the launch file provided in this package to start a
fully NITROS-accelerated AprilTag graph.

To start the graph, follow the steps below:

1. Follow the :ref:`Isaac ROS AprilTag Quickstart section <repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag/index:quickstart>` up to
   step 2.

2. Launch the Docker container using the ``run_dev.sh`` script:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
        ./scripts/run_dev.sh

3. 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

4. Run the following launch files to start the graph:

   .. code:: bash

      ros2 launch isaac_ros_apriltag isaac_ros_argus_apriltag_pipeline.launch.py

5. Open a **second** terminal inside the docker container:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
        ./scripts/run_dev.sh

6. Observe the AprilTag detection output ``/tag_detections`` on a
   separate terminal with the command:

   .. code:: bash

      ros2 topic echo /tag_detections