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Tutorial to Run NITROS-Accelerated Graph with Argus Camera

graph LR;
    argus_node("ArgusStereoNode (Raw Image)") --> left_encoder_node("EncoderNode (Compressed Image)");
    argus_node --> right_encoder_node("EncoderNode (Compressed Image)");
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In this tutorial, we'll demonstrate how you can perform H.264 encoding using a Argus-compatible camera and isaac_ros_h264_encoder, and save the compressed images into a rosbag.

Note: isaac_ros_h264_encoder needs to run on Jetson platform.

  1. Follow the Quickstart section up to step 6 in the main README.

  2. Outside the container, clone an additional repository required to run Argus-compatible camera under ~/workspaces/isaac_ros-dev/src.

    cd ~/workspaces/isaac_ros-dev/src
    git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_argus_camera

  3. Inside the container, build and source the workspace:

    cd /workspaces/isaac_ros-dev && \
  colcon build && \
  source install/setup.bash

  4. (Optional) Run tests to verify complete and correct installation:

    colcon test --executor sequential

  5. Run the launch file. This launch file will launch the example and record CompressedImage and CameraInfo topic data into a rosbag to your current folder.

    ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder_argus.launch.py

  6. (Optional) If you want to decode and visualize the images from the rosbag, you can place the recorded rosbag into an x86 machine equipped with NVIDIA GPU, then follow steps 7 & 8 in the Quickstart section. (Change the rosbag path and input dimension accordingly in step 7):

    ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=<"path to your rosbag folder">

    Here is a screenshot of the result example: