Tutorial to Run NITROS-Accelerated Graph with Argus Camera

graph LR; argus_node("ArgusStereoNode (Raw Image)") --> left_encoder_node("EncoderNode (Compressed Image)"); argus_node --> right_encoder_node("EncoderNode (Compressed Image)");

In this tutorial, you perform H.264 encoding using an Argus-compatible camera and an isaac_ros_h264_encoder. Then you save the compressed images into a rosbag.

  1. Follow the quickstart here up to step 6.

  2. Inside the container, install the isaac_ros_argus_camera package.

    sudo apt-get install -y ros-humble-isaac-ros-argus-camera
  3. Run the launch file. This launch file launches the example and records CompressedImage and CameraInfo topic data into a rosbag in your current folder.

    ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder_argus.launch.py
  4. (Optional) If you want to decode and visualize the images from the rosbag, you can place the recorded rosbag into an x86 machine equipped with NVIDIA GPU, then follow steps 7 and 8 in the Quickstart section. (Change the rosbag path and input dimension accordingly in step 7):

    ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=<"path to your rosbag folder">

    For example, the result looks like: