Tutorial to Run NITROS-Accelerated Graph with Argus Camera
==========================================================

.. mermaid::

   graph LR;
       argus_node("ArgusStereoNode (Raw Image)") --> left_rectify_node("RectifyNode (Rectified Image)");
       argus_node --> right_rectify_node("RectifyNode (Rectified Image)");
       left_rectify_node --> ess_node("ESSDisparityNode (DNN Inference)");
       right_rectify_node --> ess_node;
       ess_node --> point_cloud_point("PointCloudNode (Point Cloud Output)");

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 stereo disparity graph.

To start the graph:

1. Follow the :ref:`quickstart <repositories_and_packages/isaac_ros_dnn_stereo_depth/isaac_ros_ess/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. Launch ESS Disparity Node:

   .. code:: bash

      ros2 launch isaac_ros_ess isaac_ros_argus_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine