rnanosaur / nanosaur_perception

🖼️ Perception for nanosaur. Works with Isaac ROS

🦕🖼️ nanosaur_perception

nanosaur The smallest NVIDIA Jetson dinosaur robot, open-source, fully 3D printable, based on ROS2 & Isaac ROS.

Designed & made by Raffaello Bonghi

Meet nanosaur:

• 🦕 Website: nanosaur.ai
• 🦄 Do you need an help? Discord
• 🧰 For technical details follow wiki
• 🐳 nanosaur Docker hub
• ⁉️ Something wrong? Open an issue

CI & CD

Latest = ROS2 foxy at latest tag released

🏗️ CI	latest*	foxy	galactic
🧠 core
🖼️ perception

🏗️ nanosaur_robot CI

---

🐳 Docker	latest*	foxy	galactic	Pulls
🧠 core
🖼️ perception	zed realsense	zed realsense

Build on Jetson device

The command below, build and push (optional) a nanosaur perception docker image

bash nanosaur_perception/scripts/docker_jetson_builder.sh

or for x86 build

bash nanosaur_perception/scripts/docker_x86_builder.sh

License

For more information about this project please follow nanosaur.ai/about

nanosaur_perception's Issues

add realsense in nanosaur_perception

docker_builder.sh execute error

docker_builder.sh shows the following error.

Starting >>> isaac_ros_argus_camera_mono
--- stderr: isaac_ros_argus_camera_mono
/opt/isaac_ros_ws/src/isaac_ros_argus_camera/isaac_ros_argus_camera_mono/src/argus_camera_mono_node.cpp:17:10: fatal error: Argus/Argus.h: No such file or directory
 #include <Argus/Argus.h>
          ^~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/monocular_node.dir/src/argus_camera_mono_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/monocular_node.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< isaac_ros_argus_camera_mono [14.7s, exited with code 2]

Executing fix_jetson_docker.sh solved this problem.
Maybe this docker patch process can be included in the nanosaur installation script.

Environment

Jetson Nano 4GB + JetPack 4.6

To Reproduce

1. Install JetPack 4.6
2. Run sudo apt update && sudo apt -y full-upgrade && sudo apt -y autoremove && sudo apt -y install curl
3. Run curl https://raw.githubusercontent.com/rnanosaur/nanosaur/master/nanosaur/scripts/nanosaur -o $HOME/nanosaur && chmod +x $HOME/nanosaur && $HOME/nanosaur install dev
4. Run cd ~/nanosaur_perception/src/nanosaur_perception && bash nanosaur_perception/scripts/docker_builder.sh

How to add custom stereo camera/sensor pair support ?

Dear @rbonghi ,

I would like to use 2 MIPI-CSI2 based sensors (Raspberry Pi Global Shutter IMX296) as a stereo camera pair. Is it possible? What architecture should it be in the following link : https://nanosaur.ai/architecture/ ?

Thanks in advance and best regards,
Pascal.

jetson-utils error

Now jetson-utils works with libnvbuf_utils in /usr/lib/aarch64-linux-gnu/tegra/libnvbuf_utils.so this file is not available on a x86/QEMU platform.

To avoid is temporary stop fixed jetson-utiles on a specific commit: https://github.com/rnanosaur/nanosaur/blob/master/nanosaur/scripts/jetson_cuda.sh#L88

customizable perception.launch.py launch script

Add wait-for-it delay for perception docker

https://docs.docker.com/compose/startup-order/

add zedmini in nanosaur_perception

Make a new nanosaur_perception for x86 machines

reshape nanosaur_perception docker

add flip camera

Package
https://github.com/gbr1/image_manipulator

Driver OAK-D camera

Follow reference in:

https://github.com/rbonghi/isaac_ros_tutorial

Check if self host are available in CI

• https://github.community/t/check-if-self-hosted-is-available-for-job/234180
• https://github.community/t/run-github-actions-job-only-if-previous-job-has-failed/174786

Camera calibration

https://navigation.ros.org/tutorials/docs/camera_calibration.html

https://github.com/Myzhar/qt_camera_calibration