==============
|package_name|
==============

:ir_github:`<isaac_ros_benchmark> <isaac_ros_benchmark>`

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 <ros2_benchmark> <README.md#datasets>`
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:`<isaac_ros_benchmark>`

      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 </troubleshooting/index>`.

.. |package_name| replace:: ``isaac_ros_benchmark``