Tutorial to Run NITROS-Accelerated Graph with Argus Camera

graph LR; argus_node("ArgusMonoNode (Raw Image)") --> rectify_node("RectifyNode (Rectified Image)"); rectify_node --> apriltag_node("AprilTagNode (AprilTag Detection)");

If you have an Argus-compatible camera, you can also use the launch file provided in this package to start a fully NITROS-accelerated AprilTag graph.

To start the graph, follow the steps below:

  1. Follow the Isaac ROS AprilTag Quickstart section up to step 2.

  2. Launch the Docker container using the run_dev.sh script:

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

  3. Inside the container, install the isaac_ros_argus_camera package.

    sudo apt-get install -y ros-humble-isaac-ros-argus-camera

  4. Run the following launch files to start the graph:

    ros2 launch isaac_ros_apriltag isaac_ros_argus_apriltag_pipeline.launch.py

  5. Open a second terminal inside the docker container:

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

  6. Observe the AprilTag detection output /tag_detections on a separate terminal with the command:

    ros2 topic echo /tag_detections