isaac_ros_benchmark

Source code 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.

  1. Set up your development environment by following the instructions here.

  2. Clone isaac_ros_common and this repository under ${ISAAC_ROS_WS}/src.

    cd ${ISAAC_ROS_WS}/src

    git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common

    git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark.git isaac_ros_benchmark

  3. Pull down r2b Dataset 2023 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 --content-disposition 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/metadata.yaml' && \
  wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/r2b_storage_0.db3'

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

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

  5. Install this package’s dependencies.

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

  6. Start the Isaac ROS AprilTag benchmark:

    launch_test src/isaac_ros_benchmark/scripts/isaac_ros_apriltag_node.py

  7. 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.

Troubleshooting

Isaac ROS Troubleshooting

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