Merge pull request #3 from NVIDIA-ISAAC-ROS/release-3.1

Isaac ROS 3.1

Author: jaiveersinghNV

isaac_ros_perceptor_bringup/launch/algorithms/hawks_processing.launch.py

@@ -34,6 +34,7 @@ def create_imager_pipeline(stereo_camera_name: str, identifier: str,
         plugin='nvidia::isaac_ros::image_proc::RectifyNode',
         namespace=f'{stereo_camera_name}/{identifier}',
         parameters=[{
+            'input_qos': 'SENSOR_DATA',
             'output_width': pc.HAWK_IMAGE_WIDTH,
             'output_height': pc.HAWK_IMAGE_HEIGHT,
         }],

isaac_ros_perceptor_bringup/launch/algorithms/vslam.launch.py

@@ -56,6 +56,7 @@ def add_vslam(args: lu.ArgumentContainer) -> list[Action]:
             'accel_noise_density': 0.001862,
             'accel_random_walk': 0.003,
             'calibration_frequency': 200.0,
+            'image_qos': args.image_qos,
             # It's recommended to use image masking with unrectified images.
             'rectified_images': False,
             'img_mask_bottom': 30,
@@ -93,6 +94,7 @@ def generate_launch_description() -> LaunchDescription:
     args.add_arg('min_num_images_used_in_vslam', 2)
     args.add_arg('container_name', 'nova_container')
     args.add_arg('global_frame', 'odom')
+    args.add_arg('image_qos', 'SENSOR_DATA')
     args.add_arg('invert_odom_to_base_tf', False)
     args.add_arg('publish_odom_to_base_tf', True)
     args.add_opaque_function(add_vslam)

isaac_ros_perceptor_bringup/launch/perceptor_general.launch.py

@@ -37,6 +37,7 @@ def generate_launch_description() -> LaunchDescription:
     # }
     args.add_arg('perceptor_configuration')
     args.add_arg('global_frame', 'odom')
+    args.add_arg('vslam_image_qos', 'SENSOR_DATA')
     args.add_arg('invert_odom_to_base_tf', False)
 
     enable_vslam = lu.dict_values_contain_substring(args.perceptor_configuration, 'cuvslam')
@@ -77,6 +78,7 @@ def generate_launch_description() -> LaunchDescription:
             launch_arguments={
                 'enabled_stereo_cameras_for_vslam': enabled_stereo_cameras_for_vslam,
                 'global_frame': args.global_frame,
+                'image_qos': args.vslam_image_qos,
                 'invert_odom_to_base_tf': args.invert_odom_to_base_tf,
             },
             condition=IfCondition(enable_vslam),

isaac_ros_perceptor_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_perceptor_bringup</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>
     Launch files to use isaac perceptor with the Nova sensor suite.
   </description>

isaac_ros_perceptor_constants/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_perceptor_constants</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Constants commonly used for Isaac Perceptor.</description>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>