============== |package_name| ============== :ir_github:` ` Quickstart ---------- Follow the steps below to run a sample benchmark for measuring performance of an Isaac ROS AprilTag node with ``ros2_benchmark``. This process can also be used to benchmark the other Isaac ROS nodes, and the ``ros2_benchmark`` framework more generally supports benchmarking arbitrary graphs of ROS 2 nodes. Set Up Development Environment ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. include:: /_snippets/set_up_dev_env.rst Datasets ^^^^^^^^^^^^^^^^^^^^^^^^^^ Most benchmarks for Isaac ROS nodes use the standard ``r2b Dataset`` as input data. Download the datasets by following the instructions :ir_repo:`here ` or fetch just the rosbag used in this Quickstart with the following command. .. code:: bash mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage && \ cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage && \ wget 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/metadata.yaml' && \ wget 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/r2b_storage_0.db3' Build |package_name| ^^^^^^^^^^^^^^^^^^^^ .. tabs:: .. group-tab:: Binary Package 1. Launch the Docker container using the ``run_dev.sh`` script: .. code:: bash cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \ ./scripts/run_dev.sh 2. Install the prebuilt Debian package: :ir_apt: .. code:: bash sudo apt-get install -y ros-humble-isaac-ros-apriltag-benchmark .. group-tab:: Build from Source 1. Clone this repository under ``${ISAAC_ROS_WS}/src``: .. code:: bash cd ${ISAAC_ROS_WS}/src && \ git clone :ir_clone:`` 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. Use ``rosdep`` to install the package's dependencies: :ir_apt: .. code:: bash rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_benchmark/benchmarks/isaac_ros_apriltag_benchmark --ignore-src -y 4. Build the package from source: .. code:: bash cd ${ISAAC_ROS_WS}/ && \ colcon build --symlink-install --packages-up-to isaac_ros_apriltag_benchmark --base-paths ${ISAAC_ROS_WS}/src/isaac_ros_benchmark/benchmarks/isaac_ros_apriltag_benchmark 5. Source the ROS workspace: .. note:: Make sure to repeat this step in **every** terminal created inside the Docker container. Because this package was built from source, the enclosing workspace must be sourced for ROS to be able to find the package's contents. .. code:: bash source install/setup.bash Run Launch File ^^^^^^^^^^^^^^^ 1. Continuing inside the Docker container, run the following launch file to start benchmarking Isaac ROS AprilTag: .. code:: bash launch_test $(ros2 pkg prefix isaac_ros_apriltag_benchmark)/share/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_node.py 2. Once the benchmark is finished, the final performance measurements are displayed in the terminal. Additionally, the final results and benchmark metadata (e.g., system information, benchmark configurations) are also exported as a JSON file whose path is printed in the terminal when the benchmark ends. Troubleshooting --------------- For solutions to problems with Isaac ROS, please check :doc:`here `. .. |package_name| replace:: ``isaac_ros_benchmark``