qazmichaelgw / isaac_template

isaac_template for isaac sdk

Getting Started

Prerequisites

• Since this package is an extension to NVIDIA ISAAC SDK, we refer the reader to check their current prerequisites list.

Installation

To build NVIDIA's ISAAC along with the driver for SICK AG Safety Scanners:

• Download ISAAC SDK (version 2019.3 or higher) from https://developer.nvidia.com/isaac/downloads.
• Extract the ISAAC SDK release in a local folder.
• Install the required dependencies for ISAAC.
• Clone this repository into another local folder and open the WORKSPACE file in a text/code editor.
• Change the path '/home/schulze/tmp/sick/isaac' (line 32) to the path of the location where the ISAAC SDK has been extracted to.
• To build ISAAC SDK + Sick Safety Scanner package you can simply execute bazel build within the root folder of this package.

Creating workspace from template

You can create a new isaac clean workspace for further development.

To create a new workspace execute: python create_empty_workspace/empty_workspace.py MY_WORKSPACE_DIRECTORY MY_WORKSPACE_NAME ISAAC_SDK_DIRECTORY

Demo: Creating a new workspace

To create a new workspace with name "myws" located at "~/test_ws": python create_empty_workspace/empty_workspace.py ~/test_ws myws ~/isaac_sdk

Demonstration Apps

Here we show one example from Nvidia Isaac Offical Repository that is compatible with our workspace script.

Create a workspace named "sick_safetyscanners"

python create_empty_workspace/empty_workspace.py ~/test_ws sick_safetyscanners ~/isaac_sdk Copy the samples code to the workspace cp -r samples/* ~/test_ws Go to the new workspace to continue: cd ~/test_ws

Demo1: Receiving scan data

A consumer component is receiving the safety_scan proto messages and sends periodically a 'findMe' command proto to the sensor which causes the display of the sensor to blink in different colors for a few seconds.

To run the demo on the desktop platform execute:

bazel run //packages/sick/apps:sick_safetyscanner_test

Demo2: Visualization on websight

This demo launches ISAAC's websight server and transforms the data from flatscan protos to point cloud protos which in turn get visualized in the browser.

To run the demo on the desktop platform execute:

bazel run //packages/sick/apps:sick_safetyscanner_websight

Then open http://127.0.0.1:3000 in your webbrowser. Enable the data stream for live-visualization by ticking the 'sick_safetyscanner_websight' checkbox (Channels) on the left side. The scan data is 2-dimensional, so you might need to adjust the camera properly.

You can navigate in the 3D plot as follows:

• Hold the left mouse-button pressed + movement in any direction will let you look around.
• Hold the left mouse-button pressed + use the arrow keys on your keyboard to move the camera in any direction.

Deployment on HostMachine

You can deploy your code into a new place on the host machine for test before deploying to Jetson ./deploy.sh --remote_user $USER -p //packages/sick/apps:sick_safetyscanner_test-pkg -d x86_64 -h localhost --deploy_path ~/test

You can then, run the executables on the deployed path: cd ~/test/sick_safetyscanner_test-pkg

Run it with: ./packages/sick/apps/run_sick_safetyscanner_test

Deployment on Jetson

This package is tested on Jetson Xavier and can be deployed and executed using the deploy.sh script as follows:

Demo1: ./deploy.sh --remote_user <remote_username> -p //packages/sick/apps:sick_safetyscanner_test-pkg -d jetpack43 -h <jetson_ip_address> --run

Demo2: ./deploy.sh --remote_user <remote_username> -p //packages/sick/apps:sick_safetyscanner_websight-pkg -d jetpack43 -h <jetson_ip_address> --run

(Open http://<jetson_ip_address>:3000 in your browser)

If you wish not to immediately run the application after deployment, simply skip the --run flag.

Usage

If you have no prior experience using proto messages (in particular with Capt'n'proto), you can find a very simple example how to setup your own codelet and receiving safety_scanner messages from the sensor driver codelet in /packages/sick/components/Consumer.{cpp/hpp}. It also demonstrates how to send command protos to the sensor.

Inputs

Proto	Type	Description
find_me_cmd	FindMeCommandProto	Find-Me sensor command relay with blink time [seconds].

Outputs

Name	Type	Description
flatscan	FlatscanProto	A flatscan proto containing only the measurement data of the sensor. All angle values are given in [radians].
safety_scan	SafetyScanProto	Safety scan proto containing raw data from the sensor. Contains measurement data, derived values, the general system state, safety-field intrusion data and application related data. All angle values are given in [radians].
output_path	OutputPathProto	Output paths, containing active monitoring case number, safe/valid flags and status.

Parameters

Parameter	Description	Type	Default
sensor_ip	The IP4 address of the sensor (COLA2)	std::string	"192.168.1.100"
host_ip	The IP4 address of the receiver of the sensor stream data	std::string	"192.168.1.100"
host_udp_port	UDP port on the receiver of the sensor stream data	int	0
tcp_port	TCP port of the sensor (COLA2)	int	2122
channel	The channel number used by the sensor	int	0
channel_enabled	Determines whether to set the channel active	bool	true
flatscan_pub_active	If enabled, flatscan protos are published	bool	false
safety_pub_active	If enabled, safety_scan protos are published	bool	true
outputpath_pub_active	If enabled, outputPath protos are published	bool	false
angle_offset	Additive offset of the angle (scan beams) [degree]	float	-90.0f
angle_start	Start angle (scan beams)	float	0.0f
angle_end	End angle (scan beams)	float	0.0f
general_system_state	If enabled, safety_scan protos will contain this information as sub-proto	bool	true
derived_settings	If enabled, safety_scan protos will contain this information as sub-proto	bool	true
measurement_data	If enabled, safety_scan protos will contain this information as sub-proto	bool	true
intrusion_data	If enabled, safety_scan protos will contain this information as sub-proto	bool	true
application_io_data	If enabled, safety_scan protos will contain this information as sub-proto	bool	true
publishing_frequency_factor	A multiplicative factor to manipulate the publishing rate of the sensor.	int	1
receive_timeout	Timeout limit on waiting for sensor data [milliseconds]	int	5000

Disclaimer

Samples Borrowed from https://github.com/SICKAG/sick_safetyscanners_isaac.

Maintainer: Martin Schulze

FZI Forschungszentrum Informatik

• http://www.fzi.de

on behalf of SICK AG

• http://www.sick.com