isaac_ros_centerpose

Set Up Development Environment

1. Set up your development environment by following the instructions in getting started.

2. Clone isaac_ros_common under ${ISAAC_ROS_WS}/src.

   cd ${ISAAC_ROS_WS}/src && \
      git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git
   

3. (Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

   Warning

   We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the Isaac ROS Dev container during installation, which will interrupt the quickstart process.

Download Quickstart Assets

1. Download quickstart data from NGC:

   Make sure required libraries are installed.

   sudo apt-get install -y curl tar
   

   Then, run these commands to download the asset from NGC.

   NGC_ORG="nvidia"
   NGC_TEAM="isaac"
   NGC_RESOURCE="isaac_ros_assets"
   NGC_VERSION="isaac_ros_centerpose"
   NGC_FILENAME="quickstart.tar.gz"
   
   REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/versions/$NGC_VERSION/files/$NGC_FILENAME"
   
   mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets/${NGC_VERSION} && \
       curl -LO --request GET "${REQ_URL}" && \
       tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets/${NGC_VERSION} && \
       rm ${NGC_FILENAME}
   

2. Download the CenterPose shoe ONNX file to the models repository directory with version 1:

mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_shoe/1 && \
  cd ${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_shoe/1 && \
  wget --content-disposition 'https://api.ngc.nvidia.com/v2/models/org/nvidia/team/tao/centerpose/deployable_dla34/files?redirect=true&path=shoe_DLA34.onnx' -O model.onnx

3. Move the quickstart model configuration file to the model repository.

   cp ${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_centerpose/config.pbtxt ${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_shoe/config.pbtxt
   

   Warning

   The name within the configuration file must match the model repository name. Please look at the quickstart configuration file and modify it the goal is to run another model.

Build isaac_ros_centerpose

Run Launch File

1. Continuing inside the Docker container, convert the onnx model to a TensorRT engine plan:

   /usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_shoe/1/model.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_shoe/1/model.plan
   

Visualize Results

1. Open a new terminal inside the Docker container:

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

2. Visualize and validate the output of the package with rqt_image_view:

   ros2 run rqt_image_view rqt_image_view /centerpose/image_visualized
   

   After about 1 minute, your output should like this:

   

Use Different Models

NGC has CenterPose class models that can detect other objects. Check them out here.

Isaac ROS Troubleshooting

For solutions to problems with Isaac ROS, see troubleshooting.

Deep Learning Troubleshooting

For solutions to problems with using DNN models, please check here.

Usage

Two launch files are provided to use this package. The first launch file launches isaac_ros_tensor_rt, whereas the other one uses isaac_ros_triton, along with the necessary components to perform encoding on images and decoding of the CenterPose network’s output.

CenterPoseDecoderNode

CenterPoseVisualizerNode