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08-Isaac ROS Object detection

Isaac ROS Object Detection Official Website Link：https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/index.html

Overview​

Isaac ROS Object Detection contains ROS 2 packages to perform object detection.isaac_ros_rtdetr,isaac_ros_detectnet, andisaac_ros_yolov8each provide a method for spatial classification using bounding boxes with an input image. Classification is performed by a GPU-accelerated model of the appropriate architecture:

  • isaac_ros_rtdetr : RT-DETR models
  • isaac_ros_detectnet : DetectNet models
  • isaac_ros_yolov8 : YOLOv8 models

The output prediction can be used by perception functions to understand the presence and spatial location of an object in an image.

image

Quick Experience​

To simplify development, we primarily use the Isaac ROS Dev Docker image and demonstrate the effects there. This demonstration does not require any camera device installation; it simulates the data stream from a camera by playing a rosbag file.

note

Note: If you wish to install on your own device or connect a camera to develop other features, please refer to the Isaac ROS official website and connect to an NVIDIA-specified camera model for your own development.

Open a terminal and enter the working directory.

cd ${ISAAC_ROS_WS}/src

Enter the Isaac ROS Dev Docker container.

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

Run the following startup command.

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=detectnet interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_detectnet/quickstart_interface_specs.json

Open a second terminal and enter the container.

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

Run the following command

ros2 bag play -l ${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_detectnet/rosbags/detectnet_rosbag --remap image:=image_rect camera_info:=camera_info_rect

View the run results

Open a third terminal and enter the container

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

Run the following command

ros2 run isaac_ros_detectnet isaac_ros_detectnet_visualizer.py --ros-args --remap image:=detectnet_encoder/resize/image

Open a fourth terminal and enter the container

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

Run the following command to view the results.

ros2 run rqt_image_view rqt_image_view /detectnet_processed_image

image