Tutorial for ESS with Isaac Sim#

https://gitlab-master.nvidia.com/isaac/isaac/-/raw/release-4.3/docs/nvidia-isaac-ros//resources/isaac_ros_docs/concepts/stereo_depth/ess/Rviz.png/

Overview#

This tutorial walks you through a graph to estimate depth with stereo images from Isaac Sim.

Tutorial Walkthrough#

Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide.
Press Play to start publishing data from the Isaac Sim.
Complete the isaac_ros_ess quickstart.

Note

Use the ess model and not the ess_light model for the quickstart.

Open a second terminal and attach to the container:

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

In the second terminal, start the isaac_ros_ess node using the launch files:

ros2 launch isaac_ros_ess isaac_ros_ess_isaac_sim.launch.py \
   engine_file_path:=${ISAAC_ROS_WS:?}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.1.0_onnx/ess.engine \
   threshold:=0.4

Optionally, you can run the visualizer script to visualize the disparity image.
```
ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py
```