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jaiveersinghNVjaiveersinghNV
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Merge pull request #50 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
2 parents faa471d + 4a38505 commit 269d8a4

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‎README.md‎

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@@ -87,4 +87,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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## Latest
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Update 2024-09-26: Updated for Isaac ROS 3.1
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Update 2024-12-10: Support selecting camera module by index

‎gxf_isaac_camera_utils/CMakeLists.txt‎

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@@ -50,4 +50,10 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
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# Install the binary file
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install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)

‎gxf_isaac_camera_utils/package.xml‎

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@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>gxf_isaac_camera_utils</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>NvIsaacCameraUtilsExtension</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_argus_camera/CMakeLists.txt‎

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@@ -26,18 +26,21 @@ execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE
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message( STATUS "Architecture: ${ARCHITECTURE}" )
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find_package(ament_cmake_auto REQUIRED)
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find_package(Eigen3 REQUIRED NO_MODULE)
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ament_auto_find_build_dependencies()
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ament_auto_add_library(argus_nitros_context SHARED src/argus_nitros_context.cpp)
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ament_auto_add_library(base_node SHARED src/argus_camera_node.cpp)
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target_link_libraries(base_node Eigen3::Eigen)
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set_target_properties(base_node PROPERTIES
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BUILD_WITH_INSTALL_RPATH TRUE
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BUILD_RPATH_USE_ORIGIN TRUE
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INSTALL_RPATH_USE_LINK_PATH TRUE
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)
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ament_auto_add_library(mono_node SHARED src/argus_camera_mono_node.cpp)
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target_link_libraries(mono_node Eigen3::Eigen)
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rclcpp_components_register_nodes(mono_node "nvidia::isaac_ros::argus::ArgusMonoNode")
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set(node_plugins "${node_plugins}nvidia::isaac_ros::argus::ArgusMonoNode;$<TARGET_FILE:mono_node>\n")
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set_target_properties(mono_node PROPERTIES
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)
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ament_auto_add_library(stereo_node SHARED src/argus_camera_stereo_node.cpp)
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target_link_libraries(stereo_node Eigen3::Eigen)
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rclcpp_components_register_nodes(stereo_node "nvidia::isaac_ros::argus::ArgusStereoNode")
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set(node_plugins "${node_plugins}nvidia::isaac_ros::argus::ArgusStereoNode;$<TARGET_FILE:stereo_node>\n")
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set_target_properties(stereo_node PROPERTIES
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find_package(launch_testing_ament_cmake REQUIRED)
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# Only add camera tests if on Jetson platform
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if(${ARCHITECTURE} STREQUAL "aarch64")
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add_launch_test(test/isaac_ros_argus_camera_bench_test.py)
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add_launch_test(test/isaac_ros_argus_camera_mono_test.py)
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add_launch_test(test/isaac_ros_argus_camera_stereo_test.py)
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add_launch_test(test/isaac_ros_argus_camera_stereo_oss_rectify_compare.py)
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add_launch_test(test/isaac_ros_argus_camera_stereo_wide_fov_test.py)
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add_launch_test(test/isaac_ros_argus_camera_override_test.py)
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add_launch_test(test/isaac_ros_argus_camera_mono_override_test.py)
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endif() # aarch64
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endif()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE config launch test)

‎isaac_ros_argus_camera/config/argus_camera_mono_node.yaml‎

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left_camera_output: left_camera_output
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right_camera_output: left_camera_output
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camera_id: 0
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module_id: 0
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module_id: -1
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mode: 0
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framerate: 30
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fsync_type: 1
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camera_type: 0
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output_format: 1
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output_format: 0
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use_hw_timestamp: false
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camera_provider: global_camera_provider/global_camera_provider
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analog_gain_1: 1.0
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analog_gain_2: 1.0

‎isaac_ros_argus_camera/config/argus_camera_stereo_node.yaml‎

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left_camera_output: left_camera_output
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right_camera_output: right_camera_output
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camera_id: 0
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module_id: 0
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module_id: -1
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mode: 0
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framerate: 30
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fsync_type: 1
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camera_type: 1
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output_format: 1
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output_format: 0
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use_hw_timestamp: false
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camera_provider: global_camera_provider/global_camera_provider
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analog_gain_1: 1.0
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analog_gain_2: 1.0
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parameters:
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transmitter: right_camera_output
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min_size: 1
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---
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name: rectify_parameters
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components:
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type: nvidia::gxf::DoubleBufferTransmitter
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parameters:
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capacity: 1
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policy: 0
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- type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
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parameters:
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transmitter: data_transmitter
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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capacity: 1
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policy: 0
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- type: nvidia::gxf::MessageAvailableSchedulingTerm
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parameters:
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receiver: signal
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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capacity: 1
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policy: 0
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- type: nvidia::gxf::MessageAvailableSchedulingTerm
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parameters:
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receiver: signal
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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capacity: 1
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policy: 0
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- type: nvidia::gxf::MessageAvailableSchedulingTerm
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parameters:
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receiver: signal
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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capacity: 1
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policy: 0
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parameters:
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receiver: signal

‎isaac_ros_argus_camera/config/isaac_ros_argus_camera_mono_spec.yaml‎

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%YAML 1.2
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# Copyright (c) 2022-2024, NVIDIA CORPORATION. All rights reserved.
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#
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# NVIDIA CORPORATION and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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---
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name: ArgusCameraMonoExtension
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version: 3.0.2
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components:
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- id: [0xb588dfe1eb627257, 0x9cb8b7ee7e86359a]
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type: nvidia::isaac::CameraProvider
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- id: [0xd94385e5b35b4634, 0x9adb0d214a3865f6]
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type: nvidia::isaac::PoseTree
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- id: [0xd0c4ddad486a4a91, 0xb69c8a5304b205ef]
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type: nvidia::isaac::PoseTreeSetup
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- id: [0xd0c4ddad486a4a91, 0xb69c8a5304b205ef]
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type: nvidia::isaac::AtlasFrontend
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- id: [0xd0c4ddad486a4a91, 0xb69c8a5304b205ef]
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type: nvidia::isaac::PoseTreeFrame
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- id: [0xd0c4ddad486a4a91, 0xb69c8a5304b205ef]
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type: nvidia::isaac::ArgusCamera
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format_remapping:
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nitros_image_nv12: 0
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nitros_image_nv24: 1
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input_output_groups:
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- input_keys: []
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output_keys: [left_camera_output]
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input_format_keys: []
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output_format_keys: [output_format]
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: []
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output_formats: [nitros_image_nv12]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: []
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output_formats: [nitros_image_nv24]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0xfc4d7b4d8fcc4daa, 0xa286056e0fcafa78]
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type: nvidia::isaac::tensor_ops::StreamConvertColorFormat
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format_remapping:
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nitros_image_rgb8: RGB_U8
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nitros_image_bgr8: BGR_U8
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nitros_image_rgba8: RGBA_U8
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nitros_image_bgra8: BGRA_U8
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nitros_image_mono8: Y_U8
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nitros_image_mono16: Y_U16
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nitros_image_rgb16: RGB_U16
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nitros_image_bgr16: BGR_U16
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nitros_image_nv12: NV12
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nitros_image_nv24: NV24
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input_output_groups:
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- input_keys: [receiver]
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output_keys: [transmitter]
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input_format_keys: []
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output_format_keys: [output_type]
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_image_nv24]
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output_formats: [nitros_image_nv24]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_image_nv12]
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output_formats: [nitros_image_rgb8]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_image_nv12]
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output_formats: [nitros_image_nv12]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- id: [0xfc4d7b4d8fcc4daa, 0xa286056e0fcafa78]
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type: nvidia::isaac::tensor_ops::ImageAdapter
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- id: [0xfc4d7b4d8fcc4daa, 0xa286056e0fcafa78]
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type: nvidia::isaac::tensor_ops::TensorStream
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- id: [0xfc4d7b4d8fcc4daa, 0xa286056e0fcafa78]
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type: nvidia::isaac_ros::MessageSplitter
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input_output_groups:
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- input_keys: [rx]
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output_keys: [image_tx, camera_model_tx]
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input_format_keys: []
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output_format_keys: []
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supported_formats:
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- platforms: [any]
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details:
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- input_formats: [nitros_image_rgb8]
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output_formats: [nitros_image_rgb8, nitros_camera_info]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_image_nv12]
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output_formats: [nitros_image_nv12, nitros_camera_info]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%
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- input_formats: [nitros_image_nv24]
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output_formats: [nitros_image_nv24, nitros_camera_info]
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costs:
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throughput: 10bytes/s
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latency: 10ms
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power: 100J
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accuracy: 100%

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