Merge pull request #5 from NVIDIA-ISAAC-ROS/release-2.1

Isaac ROS 2.1.0

public/_sources/concepts/benchmarking/index.rst.txt

@@ -110,7 +110,7 @@ Required Models
 Some of the benchmark graphs require loading model files. Models used by
 a benchmark graph are listed in the benchmark script's header. By
 default models are expected to be accessible by a benchmark script under
-``~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models``.
+``${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models``.
 
 Before benchmarking a node that contains a DNN, the DNN must be
 downloaded and converted to a ``.plan`` file for the host system. You can do this
@@ -126,39 +126,39 @@ using the instructions provided in the table below:
    * - :ref:`Bi3D <repositories_and_packages/isaac_ros_depth_segmentation/isaac_ros_bi3d/index:Model Preparation>`
      - .. code-block:: bash 
 
-          mkdir -p ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/bi3d && \
-            cd ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/bi3d && \
+          mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/bi3d && \
+            cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/bi3d && \
             wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/2.0.0/files/featnet.onnx' && \
             wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/bi3d_proximity_segmentation/versions/2.0.0/files/segnet.onnx'
 
    * - `ESS <https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/models/dnn_stereo_disparity>`__
      - .. code-block:: bash 
 
-          mkdir -p ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/ess && \
-            cd ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/ess && \
+          mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/ess && \
+            cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/ess && \
             wget 'https://api.ngc.nvidia.com/v2/models/nvidia/isaac/dnn_stereo_disparity/versions/3.0.0/files/ess.etlt'
 
    * - `DOPE <https://github.com/NVlabs/Deep_Object_Pose>`__ `Ketchup <https://drive.google.com/drive/folders/1DfoA3m_Bm0fW8tOWXGVxi4ETlLEAgmcg>`__
-     - ``mkdir -p ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/ketchup && cd ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/ketchup``\ Download ``Ketchup.pth`` model from `here <https://drive.google.com/drive/folders/1DfoA3m_Bm0fW8tOWXGVxi4ETlLEAgmcg>`__ to the current directory. Start the Isaac ROS Docker container before running the next step: ``~/workspaces/isaac_ros-dev/scripts/run_dev.sh && python3 /workspaces/isaac_ros-dev/src/isaac_ros_pose_estimation/isaac_ros_dope/scripts/dope_converter.py --format onnx --input Ketchup.pth --output ketchup.onnx``\ Create a file ``config.pbtxt`` in the current directory by using the configurations provided in setup 4 :doc:`here </concepts/pose_estimation/dope/tutorial_triton>`
+     - ``mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/ketchup && cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/ketchup``\ Download ``Ketchup.pth`` model from `here <https://drive.google.com/drive/folders/1DfoA3m_Bm0fW8tOWXGVxi4ETlLEAgmcg>`__ to the current directory. Start the Isaac ROS Docker container before running the next step: ``${ISAAC_ROS_WS}/scripts/run_dev.sh && python3 /workspaces/isaac_ros-dev/src/isaac_ros_pose_estimation/isaac_ros_dope/scripts/dope_converter.py --format onnx --input Ketchup.pth --output ketchup.onnx``\ Create a file ``config.pbtxt`` in the current directory by using the configurations provided in setup 4 :doc:`here </concepts/pose_estimation/dope/tutorial_triton>`
 
    * - `PeopleNet <https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplenet>`__
      - .. code-block:: bash 
 
-          mkdir -p ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/peoplenet && \
-            cd ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/peoplenet && \
+          mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/peoplenet && \
+            cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/peoplenet && \
             wget 'https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplenet/versions/pruned_quantized_v2.3.2/files/resnet34_peoplenet_pruned_int8.etlt' && \
             wget 'https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplenet/versions/pruned_quantized_v2.3.2/files/resnet34_peoplenet_pruned_int8.txt' && \
             wget 'https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplenet/versions/pruned_quantized_v2.3.2/files/labels.txt' && \
-            cp ~/workspaces/isaac_ros-dev/src/isaac_ros_object_detection/isaac_ros_detectnet/resources/peoplenet_config.pbtxt config.pbtxt
+            cp ${ISAAC_ROS_WS}/src/isaac_ros_object_detection/isaac_ros_detectnet/resources/peoplenet_config.pbtxt config.pbtxt
 
    * - `PeopleSemSegNet ShuffleSeg <https://ngc.nvidia.com/catalog/models/nvidia:tao:peoplesemsegnet>`__
      - .. code-block:: bash 
 
-          mkdir -p ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/peoplesemsegnet_shuffleseg && \
-            cd ~/workspaces/isaac_ros-dev/src/ros2_benchmark/assets/models/peoplesemsegnet_shuffleseg && \
+          mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/peoplesemsegnet_shuffleseg && \
+            cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/models/peoplesemsegnet_shuffleseg && \
             wget https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplesemsegnet/versions/deployable_shuffleseg_unet_v1.0/files/peoplesemsegnet_shuffleseg_etlt.etlt && \
             wget https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplesemsegnet/versions/deployable_shuffleseg_unet_v1.0/files/peoplesemsegnet_shuffleseg_cache.txt && \
-            cp ~/workspaces/isaac_ros-dev/src/isaac_ros_dnn_inference/resources/peoplesemsegnet_shuffleseg_config.pbtxt config.pbtxt
+            cp ${ISAAC_ROS_WS}/src/isaac_ros_dnn_inference/resources/peoplesemsegnet_shuffleseg_config.pbtxt config.pbtxt
 
 List of Isaac ROS Benchmarks
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~

public/_sources/concepts/compression/h264/tutorial_compatible_decode.rst.txt

@@ -1,5 +1,5 @@
 ==========================================================
-Decoding Jetson H.264 images on non-NVIDIA powered systems
+Decoding Jetson H.264 Images on Non-NVIDIA Powered Systems
 ==========================================================
 
 .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/compression/h264/image_view_h264_decoded.png>`
@@ -11,21 +11,21 @@ Overview
 
 Using hardware-accelerated Isaac ROS compression to H.264
 encode data for playback through Isaac ROS H.264 decoder on
-NVIDIA-powered systems is fast and efficient. However, you may have need
+NVIDIA-powered systems is fast and efficient. However, you may need
 to decode recorded data on systems that are not NVIDIA-powered.
 Fortunately, the output of the ``isaac_ros_h264_encoder`` package can
-easily be reformatted to work with other available ROS 2 decoder
+be reformatted to work with other available ROS 2 decoder
 packages.
 
 This tutorial shows you how to replay a rosbag recorded on a Jetson
 using a third-party H.264 decoder `image_transport
 plugin <https://github.com/clydemcqueen/h264_image_transport>`__
 used in `FogROS2 <https://github.com/berkeleyAutomation/FogROS2>`__.
 
-The launch file here replays a target rosbag recorded with
-``isaac_ros_h264_encoder`` through a node to reformat the compressed
-messages for compatibility before being decoded by the third-party
-decoder to be displayed in an image view window.
+The launch file replays a target rosbag recorded with
+``isaac_ros_h264_encoder``. It is recorded through a node that reformats the compressed
+messages for compatibility. Then the third-party
+decoder is used to display it in an image view window.
 
 Tutorial Walkthrough
 --------------------
@@ -35,7 +35,7 @@ Tutorial Walkthrough
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src
+      cd ${ISAAC_ROS_WS}/src
       git clone https://github.com/clydemcqueen/h264_image_transport.git
 
       # Install dependencies for the third-party package
@@ -45,7 +45,7 @@ Tutorial Walkthrough
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
         ./scripts/run_dev.sh
 
 4. Inside the container, build the third-party ``h264_image_transport``
@@ -58,7 +58,7 @@ Tutorial Walkthrough
           h264_image_transport isaac_ros_to_h264_msgs_packet && \
         source install/setup.bash
 
-5. Launch the graph which brings up an image viewer to show the decoded
+5. Launch the graph to bring up an image viewer that shows the decoded
    output.
 
    .. code:: bash

public/_sources/concepts/compression/h264/tutorial_nitros_graph.rst.txt

@@ -8,58 +8,41 @@ Tutorial to Run NITROS-Accelerated Graph with Argus Camera
        argus_node("ArgusStereoNode (Raw Image)") --> left_encoder_node("EncoderNode (Compressed Image)");
        argus_node --> right_encoder_node("EncoderNode (Compressed Image)");
 
-In this tutorial, we'll demonstrate how you can perform H.264 encoding
-using a :ir_repo:`Argus-compatible camera <isaac_ros_argus_camera>`
-and :ir_repo:`isaac_ros_h264_encoder <isaac_ros_compression>`,
-and save the compressed images into a rosbag.
+In this tutorial, you perform H.264 encoding
+using an :ir_repo:`Argus-compatible camera <isaac_ros_argus_camera>`
+and an :ir_repo:`isaac_ros_h264_encoder <isaac_ros_compression>`.
+Then you save the compressed images into a rosbag.
 
 1. Follow the quickstart :ref:`here <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index:quickstart>` up to
    step 6.
 
-2. Outside the container, clone an additional repository required to run
-   Argus-compatible camera under ``~/workspaces/isaac_ros-dev/src``.
+2. Inside the container, install the ``isaac_ros_argus_camera`` package.
 
-   .. code:: bash
-
-      cd ~/workspaces/isaac_ros-dev/src
-
-   .. code:: bash
-
-      git clone :ir_clone:`<isaac_ros_argus_camera>`
-
-3. Inside the container, build and source the workspace:
-
-   .. code:: bash
-
-      cd /workspaces/isaac_ros-dev && \
-        colcon build && \
-        source install/setup.bash
-
-4. (Optional) Run tests to verify complete and correct installation:
+   :ir_apt:
 
    .. code:: bash
 
-      colcon test --executor sequential
+      sudo apt-get install -y ros-humble-isaac-ros-argus-camera
 
-5. Run the launch file. This launch file will launch the example and
-   record ``CompressedImage`` and ``CameraInfo`` topic data into a
-   rosbag to your current folder.
+3. Run the launch file. This launch file launches the example and
+   records ``CompressedImage`` and ``CameraInfo`` topic data into a
+   rosbag in your current folder.
 
    .. code:: bash
 
       ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder_argus.launch.py
 
-6. (Optional) If you want to decode and visualize the images from the
+4. (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 
+   equipped with NVIDIA GPU, then follow steps 7 and 8 in the
    :ref:`Quickstart section <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index:quickstart>`. (Change the rosbag path and
    input dimension accordingly in step 7):
 
    .. code:: bash
 
       ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=<"path to your rosbag folder">
 
-   Here is a screenshot of the result example:
+   For example, the result looks like:
 
    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/compression/h264/argus_example.png>`
       :align: center

public/_sources/concepts/compression/h264/tutorial_realsense_encoder.rst.txt

@@ -2,27 +2,27 @@
 Tutorial For RealSense-based Encoding
 =====================================
 
-In this tutorial, we'll demonstrate how you can perform H.264 encoding
+In this tutorial, you perform H.264 encoding
 using a
 `RealSense <https://www.intel.com/content/www/us/en/architecture-and-technology/realsense-overview.html>`__
 camera and
-:ir_repo:`isaac_ros_h264_encoder <isaac_ros_compression> <isaac_ros_h264_encoder/src/encoder_node.cpp>`,
-and save the compressed images into a rosbag.
+:ir_repo:`isaac_ros_h264_encoder <isaac_ros_compression> <isaac_ros_h264_encoder/src/encoder_node.cpp>`
+to save compressed images into a rosbag.
 
 .. note::
 
    This tutorial requires a compatible RealSense
-   camera from the list available
-   :ref:`here <getting_started/hardware_setup/sensors/realsense_setup:camera compatibility>`.
+   camera from the list of
+   :ref:`cameras <getting_started/hardware_setup/sensors/realsense_setup:camera compatibility>`.
 
 1. Complete the :doc:`RealSense setup tutorial </getting_started/hardware_setup/sensors/realsense_setup>`.
-2. Complete steps 1-2 described in the :ref:`quickstart guide <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index:quickstart>`.
+2. Complete steps 1-2 as described in the :ref:`quickstart guide <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index:quickstart>`.
 3. Open a new terminal and launch the Docker container using the
    ``run_dev.sh`` script:
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
         ./scripts/run_dev.sh
 
 4. Build and source the workspace:
@@ -33,25 +33,25 @@ and save the compressed images into a rosbag.
         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:
+5. Run the launch file. This launch file launches the example and
+   saves ``CompressedImage`` and ``CameraInfo`` topic data into a rosbag
+   in your current folder:
 
    .. code:: bash
 
       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 
+   equipped with NVIDIA GPU, then follow steps 7 and 8 in the
    :ref:`Quickstart section <repositories_and_packages/isaac_ros_compression/isaac_ros_h264_encoder/index:quickstart>`. (Change the rosbag path and
-   input dimension accordingly in step 7):
+   input the dimension accordingly in step 7):
 
    .. code:: bash
 
       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:
+For example, the result looks like:
 
 .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/compression/h264/realsense_example.png>`
    :align: center

public/_sources/concepts/fiducials/apriltag/tutorial_apriltag_zed.rst.txt

@@ -29,7 +29,7 @@ Tutorial Walkthrough
 
     .. code:: bash
 
-       cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+       cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
          ./scripts/run_dev.sh
 
 4.  Inside the container, build and source the workspace:

public/_sources/concepts/fiducials/apriltag/tutorial_isaac_sim.rst.txt

@@ -21,7 +21,7 @@ Tutorial Walkthrough
 
     .. code:: bash
 
-       cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+       cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
          ./scripts/run_dev.sh
 
 3.  Inside the container, build and source the workspace:

public/_sources/concepts/fiducials/apriltag/tutorial_nitros_graph.rst.txt

@@ -18,56 +18,35 @@ To start the graph, follow the steps below:
 1. Follow the :ref:`Isaac ROS AprilTag Quickstart section <repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag/index:quickstart>` up to
    step 2.
 
-2. Clone additional repositories required to run Argus-compatible camera
-   under ``~/workspaces/isaac_ros-dev/src``.
+2. Launch the Docker container using the ``run_dev.sh`` script:
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src
-
-   .. code:: bash
-
-      git clone :ir_clone:`<isaac_ros_argus_camera>`
-
-   .. code:: bash
-
-      git clone :ir_clone:`<isaac_ros_image_pipeline>`
-
-3. Launch the Docker container using the ``run_dev.sh`` script:
-
-   .. code:: bash
-
-      cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
         ./scripts/run_dev.sh
 
-4. Inside the container, build and source the workspace:
-
-   .. code:: bash
-
-      cd /workspaces/isaac_ros-dev && \
-        colcon build --symlink-install && \
-        source install/setup.bash
+3. Inside the container, install the ``isaac_ros_argus_camera`` package.
 
-5. (Optional) Run tests to verify complete and correct installation:
+   :ir_apt:
 
    .. code:: bash
 
-      colcon test
+      sudo apt-get install -y ros-humble-isaac-ros-argus-camera
 
-6. Run the following launch files to start the graph:
+4. Run the following launch files to start the graph:
 
    .. code:: bash
 
       ros2 launch isaac_ros_apriltag isaac_ros_argus_apriltag_pipeline.launch.py
 
-7. Open a **second** terminal inside the docker container:
+5. Open a **second** terminal inside the docker container:
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
         ./scripts/run_dev.sh
 
-8. Observe the AprilTag detection output ``/tag_detections`` on a
+6. Observe the AprilTag detection output ``/tag_detections`` on a
    separate terminal with the command:
 
    .. code:: bash

public/_sources/concepts/fiducials/apriltag/tutorial_usb_cam.rst.txt

@@ -25,13 +25,13 @@ Tutorial Walkthrough
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src && git clone -b ros2 https://github.com/ros-drivers/usb_cam
+      cd ${ISAAC_ROS_WS}/src && git clone -b ros2 https://github.com/ros-drivers/usb_cam
 
 4. Launch the Docker container using the ``run_dev.sh`` script:
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
           ./scripts/run_dev.sh
 
 5. Inside the container, build and source the workspace:
@@ -52,7 +52,7 @@ Tutorial Walkthrough
 
    .. code:: bash
 
-      cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
           ./scripts/run_dev.sh
 
 8. Run RViz2 using the preset config file