Pixelization

A ROS2 package that collects data from VSLAM and april tags and processes it for the RobotRIO. This allows a NVIDIA coprocesser to act as a localizer for the robot.

System Requirements

An Orin Nano with 8GB of ram is the minimum supported system. Jetson Nanos likely will suffer from degraded performance. It is highly recommended that a NVME SSD is installed on the Orin Nano for maximum performance. A webcam or camera of some sort is required to be connected to the Orin Nano. Intel Realsense cameras help improve accuracy due to an internal IMU (with the right models) and stereo vision.

Requirements

The host system must be an Orin Nano Developer Kit.

Full setup

Ensure curl, git, and tar are installed.

If docker hasn't been properly configured, follow the docker instructions on this page: https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/compute/index.html#jetson-platforms

If docker has been configured, or you're done with that step, configure power settings via the commands on this page: https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/compute/index.html#jetson-platforms (just the power/performance specific ones)

Follow everything on this page: https://nvidia-isaac-ros.github.io/getting_started/dev_env_setup.html (not the other pages though)

Clone isaac ros common, if not cloned already.

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

Now wait for the containers to build, if it is successful, you should see a shell in the docker container.

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

Exit the shell and run (if not cloned already)

cd ${ISAAC_ROS_WS}/src && \
   git clone https://github.com/Pixelators4014/pixelization_rs.git

Now, finally, to build the container, run:

cd ${ISAAC_ROS_WS}/src/pixelization_rs && \
source build.sh

Now, to get attach terminal in the container (which will be spun up if needed), simply run source run_dev.sh.

Note that dev containers are supported, and are suggested if you like autocomplete, just open the file .devcontainer/devcontainer.json and your IDE should take care of the rest.

Competition Usage

Use systemd to automatically run run.sh on startup, which should start the docker container and execute the entry script.