==============
|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.

1. Set up your development environment by following the instructions
   :doc:`here </getting_started/dev_env_setup>`.

2.  Clone ``isaac_ros_common`` and this repository under ``${ISAAC_ROS_WS}/src``.

    .. code:: bash

       cd ${ISAAC_ROS_WS}/src

    .. code:: bash

       git clone :ir_clone:`<isaac_ros_common>`

    .. code:: bash

       git clone :ir_clone:`<isaac_ros_benchmark>`

3. Pull down ``r2b Dataset 2023`` 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 --content-disposition 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/metadata.yaml' && \
        wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/r2b_storage_0.db3'

4. Launch the Docker container using the ``run_dev.sh`` script:

   .. code:: bash

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

5. Install this package's dependencies.

   :ir_apt:

   .. code:: bash

      sudo apt-get install -y ros-humble-isaac-ros-benchmark ros-humble-isaac-ros-apriltag

6. Start the Isaac ROS AprilTag benchmark:

   .. code:: bash

      launch_test src/isaac_ros_benchmark/scripts/isaac_ros_apriltag_node.py

7. 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.

Troubleshooting
---------------

Isaac ROS Troubleshooting
~~~~~~~~~~~~~~~~~~~~~~~~~

For solutions to problems with Isaac ROS, please check :doc:`here </troubleshooting/index>`.

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