Leetop Jetson Cloud Demo 7

Isaac ROS Dev Base Container

l Isaac ROS Pose Estimation

此demo将使用NVIDIA GPU加速包为3D对象姿态预估做加速。使用深度学习的姿态估计模型和单目相机，isaac_ros_dope和isaac-ros_ centerpose包可以实现估计目标对象的6自由度姿态。

l 配置环境

1. 下载源码包

$ mkdir -p ~/workspaces/isaac_ros-dev/src

$ cd ~/workspaces/isaac_ros-dev/src

$ git clone [https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common)

$ git clone [https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros)

$ git clone [https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation)

$ git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference

2. 下载ROS Bag数据包

$ cd ~/workspaces/isaac_ros-dev/src/isaac_ros_pose_estimation && \

 git lfs pull -X "" -I "resources/rosbags/"

3. 运行run_dev.sh脚本搭建Docker容器

$ cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \

 ./scripts/run_dev.sh

4. 在Docker容器里创建模型存放目录

$ mkdir -p /tmp/models/

5. 在DOPE GitHub下载本例程使用的Ketchup.pth模型，在PC(x86_64)机上将模型转成onnx文件，然后存放于Docker里的/tmp/models/目录中

## 注意：此步骤在PC端执行

$ python3 /workspaces/isaac_ros-dev/src/isaac_ros_pose_estimation/isaac_ros_dope/scripts/dope_converter.py --format onnx --input /tmp/models/Ketchup.pth

## 注意：此步骤在Jetson执行，假设onnx模型放于~/Downloads

$ cd ~/Downloads && \

docker cp Ketchup.onnx isaac_ros_dev-aarch64-container:/tmp/models

l 编译 && 运行

1. 进入上面搭建好的Dokcer容器

$ cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \

 ./scripts/run_dev.sh

2. 编译并在workspaces目录中配置

$ cd /workspaces/isaac_ros-dev && \

 colcon build --symlink-install && \

 source install/setup.bash

Note: 可运行 colcon test --executor sequential 以验证编译安装的完整性和正确性

3. 运行以下启动文件以启动此软件包的演示：

执行isaac_ros_dope

$ ros2 launch isaac_ros_dope isaac_ros_dope_tensor_rt.launch.py model_file_path:=/tmp/models/Ketchup.onnx engine_file_path:=/tmp/models/Ketchup.plan

打开另一个终端窗口，并进入Docker容器

$ cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \

 ./scripts/run_dev.sh

然后运行ROS bag

$ ros2 bag play -l src/isaac_ros_pose_estimation/resources/rosbags/dope_rosbag/

4. 打开第三个终端窗口并进入Docker查看pose信息

$ cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \

 ./scripts/run_dev.sh

$ ros2 topic echo /poses

Note: 当前显示的/poses是从/dope/pose_array这个原始topic获取的poses信息

5. 使用rviz2显示pose数据

在第三个进入Docker的终端里输入

$ rviz2

此时将出现rviz2工具的窗口界面：

image.png

支持如下的设备：
Module Jetpack config Software other SW HW
Orin devkit module 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk NV devkit
Orin 32G 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk NV devkit
Orin devkit module 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Orin 32G 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Orin devkit 35.0 EA V2 Orin nx 16G DS + Full Jetpack + Pytorch + TF Todesk
Orin devkit 35.0 EA V2 Orin nx 8G DS + Full Jetpack + Pytorch + TF Todesk
Xavier devkit module 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk NV devkit
Xavier 32G 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier Industry 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier Industry 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk NV devkit
Xavier NX 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier NX 16G 35.0 EA V2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Nano R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
TX2 NX R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier devkit module R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk NV devkit
Xavier 32G R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier Industry R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier Industry R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk NV devkit
Xavier NX R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board
Xavier NX 16G R 32.7.2 default DS + Full Jetpack + Pytorch + TF Todesk Leetop carry board