Tutorial for DNN Image Segmentation with NITROS Bridge
======================================================

Overview
--------

This tutorial walks you through how to run the ``isaac_ros_unet`` on ROS 2 Humble, while playing rosbag and getting the results from ROS Noetic through ``isaac_ros_nitros_bridge``.
The tutorial is based on the `ROS1 Bridge documentation <https://github.com/ros2/ros1_bridge>`__.

.. note::
   ROS actions are not supported by the `ROS1 Bridge <https://github.com/ros2/ros1_bridge>`__.

Steps
-----

#. Complete the :ref:`Isaac ROS Nitros Bridge quickstart <repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index:quickstart>`.

#. Complete the :ref:`Isaac ROS Unet quickstart <repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index:quickstart>`.

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

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
      ./scripts/run_dev.sh -d ${HOME}/workspaces --docker_arg "--pid=host"

#. Launch the image converter launch file of ``isaac_ros_nitros_bridge``:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/ && \
         source install/setup.bash && \
         ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge_image_converter.launch.py sub_image_name:=unet/colored_segmentation_mask pub_image_name:=image

#. **Attach a second terminal** to the Docker container:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
      ./scripts/run_dev.sh -d ${HOME}/workspaces

#. Run the following launch files to spin up ``isaac_ros_unet``, (you may need to re-download the ``unet models`` and convert them since now you are in a new container):

   .. code:: bash

      cd /workspaces/isaac_ros-dev/ && \
         source install/setup.bash && \
         ros2 launch isaac_ros_unet isaac_ros_unet_tensor_rt.launch.py engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/deployable_quantized_vanilla_unet_onnx_v2.0/1/model.plan input_binding_names:=['input_1:0'] output_binding_names:=['argmax_1'] network_output_type:='argmax' input_image_width:=1200 input_image_height:=632


#. Open another terminal, launch the **Noetic** Docker container:

   .. code:: bash

      docker run -it --cap-add=SYS_PTRACE --privileged --network host --pid host --ipc host --runtime nvidia --name nitros_bridge -e FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml --rm nitros_bridge:latest nitros_bridge_image_converter.yaml nitros_bridge_image_converter.launch /image /ros1_output_image

#. **Attach a second terminal** to the **Noetic** Docker container:

   .. code:: bash

      docker exec -it nitros_bridge /bin/bash

#. Play the rosbag under ROS Noetic:

   .. code:: bash

      cd /workspaces/isaac_ros_1-dev/ && \
        source install_isolated/setup.bash && \
        rosbag play -l "src/isaac_ros_nitros_bridge/resources/unet_sample_data_ros1.bag"

#. **Attach a third terminal** to the **Noetic** Docker container:

   .. code:: bash

      docker exec -it nitros_bridge /bin/bash

#.  Use ``rostopic`` to echo in the container:

    .. code:: bash

       cd /workspaces/isaac_ros_1-dev && \
        source install_isolated/setup.bash && \
        rostopic echo /ros1_output_image

#. Example output use ``rostopic hz``:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nitros_bridge/nitros_bridge_unet.png>`
      :width: 320px
      :align: center