Implementing Robotics Applications with ROS 2 and AI on the NVIDIA Jetson Platform

Originally published at: https://developer.nvidia.com/blog/implementing-robotics-applications-with-ros-2-and-ai-on-jetson-platform-2/

Deep learning is being adopted in robotics to accurately navigate indoor environments, detect and follow objects of interest, and maneuver without collisions. However, the increasing complexity of deep learning makes it challenging to accommodate these workloads on embedded systems. While you can make trade-offs between accuracy and deep learning model size, compromising accuracy to meet…

Hi @jwitsoe
Could you extend how to run it on jp44 AGX Jetson within docker container please?
The instruction seems reffering to missed steps:
> sh docker_run.sh

This will initialize docker. Clone this repository using following command and follow build and run instructions for ros2 package from here.

What are the exact steps to follow after executing run docker_sh?
I wasn’t abler to find them in the file https://github.com/NVIDIA-AI-IOT/ros2_trt_pose/blob/main/docker/README.md
Moreover, when trying to sort out the containers iinternals with steps from a separate non dockerized setup it would run into error after

mkdir ros2_ws
ros2_ws/src/
git clone https://github.com/NVIDIA-AI-IOT/ros2_trt_pose.git
rosdep install --from-paths src --ignore-src --rosdistro eloquent -y
colcon build
root@nvidia-desktop:/ros2__ws# colcon build
Starting >>> pose_msgs
Starting >>> ros2_trt_pose
--- stderr: pose_msgs                                                            
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  /opt/ros/eloquent/share/fastrtps_cmake_module/cmake/Modules/FindFastRTPS.cmake:95 (find_package_handle_standard_args)
  /opt/ros/eloquent/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:7 (find_package)
  /opt/ros/eloquent/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:38 (include)
  /opt/ros/eloquent/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /opt/ros/eloquent/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:38 (include)
  CMakeLists.txt:23 (find_package)


---
Failed   <<< pose_msgs [0.82s, exited with code 1]
Aborted  <<< ros2_trt_pose [1.38s]                     

Summary: 0 packages finished [2.37s]
  1 package failed: pose_msgs
  1 package aborted: ros2_trt_pose
  1 package had stderr output: pose_msgs

May I know how to proceed with the docker implementation, please?
ref: https://github.com/NVIDIA-AI-IOT/ros2_trt_pose/issues/2