Tutorial for DNN Image Segmentation with NITROS Bridge
======================================================

Overview
--------

This tutorial walks you through how to run the ``isaac_ros_unet`` on ROS 2 Humble, while playing rosbag and getting the results from ROS Noetic through ``isaac_ros_nitros_bridge``.
The tutorial is based on the `ROS1 Bridge documentation <https://github.com/ros2/ros1_bridge>`__.

.. note::
   ROS actions are not supported by the `ROS1 Bridge <https://github.com/ros2/ros1_bridge>`__

Steps
-----

.. include:: _snippets/setup_ros1_steps.rst

Now, we can setup ``isaac_ros_unet`` and run it with ``isaac_ros_nitros_bridge``.

#. Clone ``isaac_ros_unet`` and its dependencies under ``/workspaces/isaac_ros-dev/isaac_ros-dev/src``:

    .. code:: bash

       cd /workspaces/isaac_ros-dev/isaac_ros-dev/src && \
       git clone :ir_clone:`<isaac_ros_image_segmentation>` && \
       git clone :ir_clone:`<isaac_ros_dnn_inference>` && \
       git clone :ir_clone:`<isaac_ros_image_pipeline>`


#. Complete :doc:`isaac_ros_unet</repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index>` Quickstart 
   step 5-6 to download image segmentation models and convert it to TensorRT engine.


#.  Create a file called ``/tmp/models/peoplesemsegnet_shuffleseg/config.pbtxt`` by copying the sample Triton config file:

    .. code:: bash

       cp /workspaces/isaac_ros-dev/isaac_ros-dev/src/isaac_ros_image_segmentation/resources/peoplesemsegnet_shuffleseg_config.pbtxt /tmp/models/peoplesemsegnet_shuffleseg/config.pbtxt

#.  Inside the container, build ``isaac_ros_unet`` and source the workspace:

    .. code:: bash

       cd /workspaces/isaac_ros-dev/isaac_ros-dev && \
         colcon build --symlink-install --packages-up-to isaac_ros_unet && \
         source install/setup.bash

#. Run the following launch files to spin up a demo of this package:

    .. code:: bash

       ros2 launch isaac_ros_unet isaac_ros_unet_triton.launch.py model_name:=peoplesemsegnet_shuffleseg model_repository_paths:=['/tmp/models'] input_binding_names:=['input_2:0'] output_binding_names:=['argmax_1'] network_output_type:='argmax' input_image_width:=1200 input_image_height:=632


#. **Attach a fourth terminal** to the Docker container:

    .. code:: bash

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

#. Launch the image converter launch file of ``isaac_ros_nitros_bridge``:

    .. code:: bash

      cd /workspaces/isaac_ros-dev/isaac_ros-dev && \
        source install/setup.bash && \
        ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_image_converter.launch.py ros1_ws_path:=/workspaces/isaac_ros-dev/isaac_ros_1-dev/ pub_image_name:=image sub_image_name:=unet/colored_segmentation_mask


#. **Attach a fourth terminal** to the Docker container:

    .. code:: bash

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

#. Pull down a rosbag of image segmentation sample:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/isaac_ros_1-dev/src/isaac_ros_nitros_bridge && \ 
        git lfs pull -X "" -I "resources/unet_sample_data_ros1.bag"

#. Play the rosbag under ROS Noetic:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/isaac_ros_1-dev/ && \ 
        source install_isolated/setup.bash && \
        rosbag play -l "src/isaac_ros_nitros_bridge/resources/unet_sample_data_ros1.bag"

#. **Attach a fifth terminal** to the Docker container:

    .. code:: bash

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

#. Source ``ros_noetic``, download ``rviz`` for ROS Noetic:

    .. code:: bash

       source /opt/ros/noetic/setup.bash && \
         sudo apt-get update && sudo apt-get install ros-noetic-rviz

#. Run ``rviz`` under ROS Noetic, add the colorized segmentation topic ``/ros1_output_image`` sent from ROS 2 humble and visualize:

    .. code:: bash

      rviz

#. You should be able to see the colorized segmentation:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/peoplesemsegnet_shuffleseg_rqt.png>`
      :width: 320px
      :align: center