jetsondockerexperiments

Experiments with ROS2 / Docker on a Jetson Xavier

This repository contains scripts for building NVIDIA ISAAC environments in Docker, with other common ROS2 packages.

Currently using ROS2 Foxy and Jetpack 4.7.0.

The Scripts

• fix_tint.sh: Fixes the pick tinge the occurs in some CSI Cameras (Leopard Imaging IMX219 and similar)
• ./isaacDocker/build.sh: Builds a ROS2 Foxy Docker container with NVIDIA ISAAC components
• docker_run_argus_mono.sh: Runs the Docker container with a single CSI Camera, resize and rectification ROS2 nodes
• docker_run_gst.sh: Runs the Docker container with dual CSI cameras, with slowed framerate and rectification. This uses Gstreamer, not ISAAC.

Running

Place this repository in ~/ on a Jetson Xavier. Build the Docker container, then run either of the two examples.

This assumes that there is a IMX219 camera on each of the two CSI ports. If not, the .launch.py files will need to be modified.

Docker will allow the ROS2 nodes inside the containers to be exposed to the host network. So just run ROS2 (Foxy) rviz2 or rqt to view the images on your laptop.

References

https://forums.developer.nvidia.com/t/li-imx219-mipi-ff-nano-h136-pink-tint-problem/163533/11

https://github.com/rbonghi/isaac_ros_tutorial

https://github.com/NVIDIA-ISAAC-ROS/