Tutorial For RealSense-based Encoding

In this tutorial, you perform H.264 encoding using a RealSense camera and isaac_ros_h264_encoder to save compressed images into a rosbag.

Note

This tutorial requires a compatible RealSense camera from the list of cameras.

1. Complete the RealSense setup tutorial.

2. Complete steps 1-2 as described in the quickstart guide.

3. Open a new terminal and launch the Docker container using the run_dev.sh script:

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

4. Build and source the workspace:

   cd /workspaces/isaac_ros-dev && \
     colcon build --symlink-install && \
     source install/setup.bash
   

5. Run the launch file. This launch file launches the example and saves CompressedImage and CameraInfo topic data into a rosbag in your current folder:

   ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder_realsense.launch.py
   

6. (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 the 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"> input_width:=640 input_height:=480
   

For example, the result looks like: