Tutorial for DNN Object Detection with Isaac Sim
================================================

.. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/object_detection/detectnet/isaac_sim_detectnet_output.png>`
    :align: center
    :width: 600px

Overview
------------

This tutorial walks you through a pipeline for object (people) detection
using :ir_repo:`DetectNet <isaac_ros_object_detection> <isaac_ros_detectnet>`
consuming images from Isaac Sim.

Tutorial Walkthrough
--------------------

1.  Complete the :ref:`quickstart <repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index:quickstart>`.
2.  Activate the Isaac ROS environment:

    .. code:: bash

       isaac-ros activate

3.  Run the setup script to download the `PeopleNet
    Model <https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplenet>`__
    from NVIDIA GPU Cloud(NGC) and convert ``.onnx`` model to a engine plan file

    .. code:: bash

       ros2 run isaac_ros_detectnet setup_model.sh --config-file peoplenet_config.pbtxt

4.  Launch the pre-composed pipeline launch file:

    .. code:: bash

       ros2 launch isaac_ros_detectnet isaac_ros_detectnet_isaac_sim.launch.py

5.  Install and launch Isaac Sim following the steps in the :ref:`Isaac ROS Isaac Sim Setup Guide <gs_isaac_sim>`.

6.  Press **Play** to start publishing data from the Isaac Sim.

    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png>`
        :align: center
        :width: 600px
    
7.  You should see the image from Isaac Sim with the rectangles
    overlaid over detected people in the frame.