isaac ros workspace added

.gitignore

@@ -172,4 +172,5 @@ deploy/nav2_ws/install
 deploy/nav2_ws/log
 
 _isaac_sim
-.vscode
+.vscode
+deploy/sgiaun-umut

Dockerfile.dock

@@ -30,10 +30,10 @@ cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/set
 COPY deploy/dock_ws/src /dock_ws/src
 RUN cd /dock_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
 
-# Compile the C++ hypervisor bridge
-COPY deploy/dds_bridge /dds_bridge
-WORKDIR /dds_bridge
-RUN ./install.sh && mkdir build && cd build && cmake .. && make
+# # Compile the C++ hypervisor bridge
+# COPY deploy/dds_bridge /dds_bridge
+# WORKDIR /dds_bridge
+# RUN ./install.sh && mkdir build && cd build && cmake .. && make
 
 # Copy the script to start the nodes
 COPY deploy/scripts /root/scripts

Dockerfile.robot

@@ -30,9 +30,9 @@ COPY deploy/robot_ws/src /robot_ws/src
 RUN cd /robot_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
 
 # Compile the C++ hypervisor bridge
-COPY deploy/dds_bridge /dds_bridge
-WORKDIR /dds_bridge
-RUN ./install.sh && mkdir build && cd build && cmake .. && make
+#COPY deploy/dds_bridge /dds_bridge
+#WORKDIR /dds_bridge
+#RUN ./install.sh && mkdir build && cd build && cmake .. && make
 
 # Copy the script to start the nodes
 COPY deploy/scripts /root/scripts

deploy/isaac_ws/.isaac_ros_common-config

@@ -0,0 +1,2 @@
+CONFIG_IMAGE_KEY="ros2_humble.realsense.go2py"
+CONFIG_DOCKER_SEARCH_DIRS=(../../../docker)

deploy/isaac_ws/docker/Dockerfile.go2py

@@ -0,0 +1,6 @@
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+RUN apt update && sudo apt-get install -y ros-humble-isaac-ros-visual-slam \
+                                          ros-humble-isaac-ros-h264-decoder \
+                                          ros-humble-isaac-ros-h264-encoder

deploy/isaac_ws/h264_encoder.py

@@ -0,0 +1,112 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+import launch
+from launch.actions import ExecuteProcess
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    # RealSense
+    realsense_config_file_path = os.path.join(
+        get_package_share_directory('isaac_ros_h264_encoder'),
+        'config', 'realsense.yaml'
+    )
+
+    realsense_node = ComposableNode(
+        package='realsense2_camera',
+        plugin='realsense2_camera::RealSenseNodeFactory',
+        parameters=[realsense_config_file_path],
+        remappings=[
+            ('infra1/image_rect_raw', 'left/image_rect_raw_mono'),
+            ('infra2/image_rect_raw', 'right/image_rect_raw_mono'),
+            ('infra1/camera_info', 'left/camerainfo'),
+            ('infra2/camera_info', 'right/camerainfo')
+        ]
+    )
+
+    left_format_converter_node = ComposableNode(
+        package='isaac_ros_image_proc',
+        plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
+        name='image_format_node_left',
+        parameters=[{
+                'encoding_desired': 'rgb8',
+        }],
+        remappings=[
+            ('image_raw', 'left/image_rect_raw_mono'),
+            ('image', 'left/image_rect_raw')]
+    )
+
+    right_format_converter_node = ComposableNode(
+        package='isaac_ros_image_proc',
+        plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
+        name='image_format_node_right',
+        parameters=[{
+                'encoding_desired': 'rgb8',
+        }],
+        remappings=[
+            ('image_raw', 'right/image_rect_raw_mono'),
+            ('image', 'right/image_rect_raw')]
+    )
+
+    left_encoder_node = ComposableNode(
+        package='isaac_ros_h264_encoder',
+        plugin='nvidia::isaac_ros::h264_encoder::EncoderNode',
+        name='left_encoder_node',
+        parameters=[{
+            'input_width': 640,
+            'input_height': 480,
+        }],
+        remappings=[
+            ('image_raw', 'left/image_rect_raw'),
+            ('image_compressed', 'left/image_compressed')]
+    )
+
+    right_encoder_node = ComposableNode(
+        package='isaac_ros_h264_encoder',
+        plugin='nvidia::isaac_ros::h264_encoder::EncoderNode',
+        name='right_encoder_node',
+        parameters=[{
+            'input_width': 640,
+            'input_height': 480,
+        }],
+        remappings=[
+            ('image_raw', 'right/image_rect_raw'),
+            ('image_compressed', 'right/image_compressed')]
+    )
+
+    container = ComposableNodeContainer(
+        name='encoder_container',
+        namespace='encoder',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[realsense_node, left_format_converter_node,
+                                      right_format_converter_node,
+                                      left_encoder_node, right_encoder_node],
+        output='screen'
+    )
+
+    rosbag_record = ExecuteProcess(
+        cmd=['ros2', 'bag', 'record', '/left/camerainfo', '/right/camerainfo',
+             '/left/image_compressed', '/right/image_compressed'],
+        output='screen')
+
+    return (launch.LaunchDescription([rosbag_record, container]))

deploy/isaac_ws/rs_launch.py

@@ -0,0 +1,30 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import ThisLaunchFileDir
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            name='go2_cam',
+            namespace='go2/cam',
+            package='realsense2_camera',
+            executable='realsense2_camera_node',
+            parameters=[{
+                    'enable_infra1': True,
+                    'enable_infra2': True,
+                    'enable_color': False,
+                    'enable_depth': False,
+                    'depth_module.emitter_enabled': 0,
+                    'depth_module.profile': '640x480x60',
+                    'enable_gyro': True,
+                    'enable_accel': True,
+                    'gyro_fps': 400,
+                    'accel_fps': 200,
+                    'unite_imu_method': 2,
+                    # 'tf_publish_rate': 0.0
+            }]
+        )
+    ])

deploy/isaac_ws/start_isaac_ros.sh

@@ -0,0 +1,2 @@
+cp .isaac_ros_common-config src/isaac_ros_common/scripts/
+./src/isaac_ros_common/scripts/run_dev.sh $(pwd)