===========
|repo_name|
===========

.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_overview.png>`
    :width: 500px
    :align: center

Overview
--------

.. include:: _snippets/overview.rst


Performance
-----------

.. include:: _snippets/performance.rst


Packages
--------

.. toctree::
    :maxdepth: 2
    :glob:

    **/index

Quickstart
----------

.. note::

   NITROS Bridge is functional on both x86 and Jetson platforms. However, Noetic is not supported on Ubuntu 22.04. https://www.ros.org/reps/rep-0003.html.
 
   In order to leverage NITROS Bridge on ROS Noetic applications, you may consider to wrap the ROS Noetic applications
   in a docker container with Ubuntu 20.04 or use other alternatives.

   Here we provide an example docker file to build a docker container with ROS Noetic and NITROS Bridge on x86.

Set Up Development Environment
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1. Set up your development environment by following the instructions in :doc:`getting started </getting_started/dev_env_setup>`.

2. Set up your ``Noetic`` docker follow the instructions :doc:`here</concepts/nitros_bridge/setup_ros1_docker>`.

3. Start the ``Noetic`` container with baked ``nitros-bridge-entrypoint``,
   which will initiate the ``ros1_bridge`` and ``isaac_ros_nitros_bridge_ros1`` within the container:

    .. code:: bash

        docker run -it --cap-add=SYS_PTRACE --privileged --network host --pid host --ipc host --runtime nvidia --name nitros_bridge -e FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml --rm nitros_bridge:latest nitros_bridge_convert_forward.yaml nitros_bridge_convert_forward.launch

    .. note::
        In order to enable the CUDA IPC for NITROS Bridge, the ``nitros-bridge-entrypoint`` will change the host ``ptrace_scope`` to ``0``.

4. Clone ``isaac_ros_common`` under ``${ISAAC_ROS_WS}/src``.

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src && \
         git clone :ir_clone:`<isaac_ros_common>`


Download Quickstart Assets
^^^^^^^^^^^^^^^^^^^^^^^^^^

1. Download quickstart data from NGC:

   :ir_assets:`<isaac_ros_nitros_bridge_ros2> <quickstart.tar.gz>`


Build ``isaac_ros_nitros_bridge_ros2``
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. tabs::

   .. 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 -a --pid=host

      2. Install the prebuilt Debian package:

         :ir_apt:

         .. code:: bash

            sudo apt-get install -y ros-humble-isaac-ros-nitros-bridge-ros2

   .. 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_nitros>`

      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 -a --pid=host

      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_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros2 --ignore-src -y

      4. Build the package from source:

         .. code:: bash

            cd ${ISAAC_ROS_WS}/ && \
               colcon build --symlink-install --packages-up-to isaac_ros_nitros_bridge_ros2 --base-paths ${ISAAC_ROS_WS}/src/isaac_ros_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros2

      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
^^^^^^^^^^^^^^^

.. tabs::

   .. tab:: Rosbag
         
      1.  Run the following launch files to spin up a demo of this package:

          .. code:: bash

            cd /workspaces/isaac_ros-dev && \
              source install/setup.bash && \
              ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge_quickstart.launch.py rosbag_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nitros_bridge_ros2/quickstart.bag

      2.  **Attach a second terminal** to the docker container:

          .. code:: bash

            cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
              ./scripts/run_dev.sh -d ${HOME}/workspaces

      3.  Visualize the output topic ``/r2b/ros2_output_image`` in RViz:

          .. code:: bash

            cd /workspaces/isaac_ros-dev/ && \
              source install/setup.bash && \
              rviz2


Try Another Example
-------------------

For an example to run DNN image segmentation with NITROS Bridge, see :doc:`here</concepts/nitros_bridge/unet_with_nitros_bridge>`.

For an example to run Isaac Sim with NITROS Bridge, see :doc:`here</concepts/nitros_bridge/tutorial_isaac_sim>`.

.. toctree::
    :hidden:

    /concepts/nitros_bridge/setup_ros1_docker.rst
    /concepts/nitros_bridge/unet_with_nitros_bridge.rst
    /concepts/nitros_bridge/tutorial_isaac_sim.rst



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

Could not find a package configuration file provided by ``ament_cmake_auto``
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Symptoms
~~~~~~~~

If you have both ROS 1 and ROS 2 installed in the Docker environment,
you may see the following error message while building ROS 2 packages:

 .. code:: bash

  Could not find a package configuration file provided by "ament_cmake_auto"
  with any of the following names:
    ament_cmake_autoConfig.cmake
    ament_cmake_auto-config.cmake

Solution
~~~~~~~~

You must source ``setup.bash`` from the ROS 2 installation before building:

 .. code:: bash

   source /opt/ros/humble/setup.bash


Updates
-------
.. include:: _snippets/updates.rst

.. |repo_name| replace:: Isaac ROS NITROS Bridge