tutorial-realsense-encoder.md

Tutorial For RealSense-based Encoding

In this tutorial, we'll demonstrate how you can perform H.264 encoding using a RealSense camera and isaac_ros_h264_encoder, and save the compressed images into a rosbag.

Note: isaac_ros_h264_encoder needs to run on a Jetson platform. This tutorial has been tested with a RealSense D455 or D435 connected to a Jetson Xavier AGX.

1. Complete the RealSense setup tutorial.

2. Complete steps 1-2 described in the quickstart guide.

3. Open a new terminal and launch the Docker container using the run_dev.sh script:

   cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
     ./scripts/run_dev.sh

4. Build and source the workspace:

   cd /workspaces/isaac_ros-dev && \
     colcon build --symlink-install && \
     source install/setup.bash

5. Run the launch file. This launch file will launch the example and save CompressedImage and CameraInfo topic data into a rosbag to your current folder:

   ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder_realsense.launch.py

6. (Optional) If you want to decode and visualize the images from the rosbag, you can place the recorded rosbag into an x86 machine equipped with NVIDIA GPU, then follow steps 7 & 8 in the Quickstart section. (Change the rosbag path and input dimension accordingly in step 7):

   ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=<"path to your rosbag folder"> input_width:=640 input_height:=480

Here is a screenshot of the result example: