Tutorial for DNN Object Detection with Isaac Sim#

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/object_detection/detectnet/isaac_sim_detectnet_output.png/

Overview#

This tutorial walks you through a pipeline for object (people) detection using DetectNet consuming images from Isaac Sim.

Tutorial Walkthrough#

  1. Complete the quickstart.

  2. Activate the Isaac ROS environment:

    isaac-ros activate

  3. Run the setup script to download the PeopleNet Model from NVIDIA GPU Cloud(NGC) and convert .onnx model to a engine plan file

    ros2 run isaac_ros_detectnet setup_model.sh --config-file peoplenet_config.pbtxt

  4. Launch the pre-composed pipeline launch file:

    ros2 launch isaac_ros_detectnet isaac_ros_detectnet_isaac_sim.launch.py

  5. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide.

  6. Press Play to start publishing data from the Isaac Sim.

    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png/

  7. You should see the image from Isaac Sim with the rectangles overlaid over detected people in the frame.