cuMotion： Robot Segmentation example failed

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,
I want to test the robot segmentation module followed the doc:

isaac_ros_cumotion — isaac_ros_docs documentation

But when I finished and tried to visualize results with rviz2 there was no image when I added /cumotion/camera_1/robot_mask. (I had waited for many minuites). Is there any solution?

Thanks.

2

Hi @sammingg

Welcome to the Isaac ROS forum.

Have you tried to run firstly the rviz2 and after run the rosbagfile?

  1. Start Isaac ROS cumotion and check there are no errors or crashes
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

sudo apt-get install -y ros-humble-isaac-ros-cumotion
ros2 launch isaac_ros_cumotion robot_segmentation.launch.py
  1. un a static transform publisher
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \ ./scripts/run_dev.sh

ros2 run tf2_ros static_transform_publisher --frame-id ar_tag --child-frame-id base_link --x -0.30 --y 0.47 --z 0.0 --qx 0 --qy 0 --qz 0.707 --qw 0.707
  1. Start rviz2
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
   ./scripts/run_dev.sh

rviz2
  1. Start rosbag
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

ros2 bag play --clock -l ${ISAAC_ROS_WS}/isaac_ros_assets/r2b_2024/r2b_robotarm \
--remap /camera_1/aligned_depth_to_color/image_raw:=/depth_image \
camera_1/color/camera_info:=rgb/camera_info
3

Hi @Raffaello

I followed the recommended order (run firstly the rviz2 and after run the rosbag file), but there was still no image on the robot mask topic. Also, the topic here is “/cumotion/camera_1/robot_mask_ros” instead of “/cumotion/camera_1/robot_mask.”

Here is the video from my computer: https://drive.google.com/file/d/1jUMTGZOslhSXrHjvmmOXAnrJP9RkvgSr/view?usp=sharing