`isaac_ros_benchmark`#

Source code available on GitHub.

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.

Set Up Development Environment#

Set up your development environment by following the instructions in getting started.
(Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

Note

We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the development environment during installation, which will interrupt the quickstart process.

Datasets#

Most benchmarks for Isaac ROS nodes use the standard r2b Dataset as input data. Download the datasets by following the instructions here or fetch just the rosbag used in this Quickstart with the following command.

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 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/metadata.yaml' && \
wget 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/r2b_storage_0.db3'

Build `isaac_ros_benchmark`#

Activate the Isaac ROS environment:
```
isaac-ros activate
```

Install the prebuilt Debian package:

sudo apt-get update

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

Clone this repository under ${ISAAC_ROS_WS}/src:

cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-4.0 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark.git isaac_ros_benchmark

Activate the Isaac ROS environment:
```
isaac-ros activate
```

Use rosdep to install the package’s dependencies:

sudo apt-get update

rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_benchmark/benchmarks/isaac_ros_apriltag_benchmark --ignore-src -y

Build the package from source:

cd ${ISAAC_ROS_WS}/ && \
   colcon build --symlink-install --packages-up-to isaac_ros_apriltag_benchmark --base-paths ${ISAAC_ROS_WS}/src/isaac_ros_benchmark/benchmarks/isaac_ros_apriltag_benchmark

Source the ROS workspace:

Note

Make sure to repeat this step in every terminal created inside the Isaac ROS environment.

Because this package was built from source, the enclosing workspace must be sourced for ROS to be able to find the package’s contents.
```
source install/setup.bash
```

Run Launch File#

Continuing inside the Isaac ROS environment, run the following launch file to start benchmarking Isaac ROS AprilTag:

launch_test $(ros2 pkg prefix isaac_ros_apriltag_benchmark)/share/isaac_ros_apriltag_benchmark/scripts/isaac_ros_apriltag_node.py

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 whose path is printed in the terminal when the benchmark ends.

Troubleshooting#

For solutions to problems with Isaac ROS, please check here.

isaac_ros_benchmark#