Tutorial for Freespace Segmentation using a ZED Camera

Overview

This tutorial demonstrates how to use a ZED camera and isaac_ros_bi3d_freespace to create a local occupancy grid.

Note

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

Tutorial Walkthrough

1. Complete the ZED setup tutorial.

2. Complete steps 1-7 described in the Freespace Quickstart.

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. Set your camera as shown in the image below, which is on a tripod ~5cm tall and parallel to the ground. Or you can change the static transform in the launch file here, according to the placement of your camera with respect to an occupancy grid origin frame.

   

   Note: If you are not using the ZED2i camera, modify the camera_model variable in the launch file to zed, zed2, zed2i, zedm, zedx, or zedxm.

6. Run the launch file, to launch the example:

   ros2 launch isaac_ros_bi3d_freespace isaac_ros_bi3d_freespace_zed.launch.py featnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_featnet.plan \
   segnet_engine_file_path:=/tmp/models/bi3d/bi3dnet_segnet.plan \
   max_disparity_values:=16
   

   You should see an output similar to the one shown at the top of this page.