Merge pull request #31 from NVIDIA-ISAAC-ROS/release-2.0.0

Isaac ROS 2.0.0

Author: jaiveersinghNV

README.md

@@ -15,7 +15,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.23.2)
+cmake_minimum_required(VERSION 3.22.1)
 project(isaac_ros_argus_camera LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -28,8 +28,7 @@ message( STATUS "Architecture: ${ARCHITECTURE}" )
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-# aarch64
-
+ament_auto_add_library(argus_nitros_context SHARED src/argus_nitros_context.cpp)
 ament_auto_add_library(base_node SHARED src/argus_camera_node.cpp)
 ament_auto_add_library(mono_node SHARED src/argus_camera_mono_node.cpp)
 rclcpp_components_register_nodes(mono_node "nvidia::isaac_ros::argus::ArgusMonoNode")
@@ -39,10 +38,20 @@ ament_auto_add_library(stereo_node SHARED src/argus_camera_stereo_node.cpp)
 rclcpp_components_register_nodes(stereo_node "nvidia::isaac_ros::argus::ArgusStereoNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::argus::ArgusStereoNode;$<TARGET_FILE:stereo_node>\n")
 
+# Utils(for StereoCameraSynchronizer)
+add_subdirectory(gxf/utils)
+install(TARGETS gxf_utils DESTINATION share/${PROJECT_NAME}/gxf/lib/utils)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+
+  # The FindPythonInterp and FindPythonLibs modules are removed
+  if(POLICY CMP0148)
+    cmake_policy(SET CMP0148 OLD)
+  endif()
+
   find_package(launch_testing_ament_cmake REQUIRED)
   # Only add camera tests if on Jetson platform
   if(${ARCHITECTURE} STREQUAL "aarch64")

isaac_ros_argus_camera/CMakeLists.txt

@@ -68,11 +68,12 @@ components:
     module_id: 0
     mode: 0
     framerate: 30
+    fsync_type: 1
     camera_type: 0
     output_format: 1
+    camera_provider: global_camera_provider/global_camera_provider
 - type: nvidia::gxf::PeriodicSchedulingTerm
   parameters:
-    transmitter: left_camera_output
     recess_period: 30Hz
 ---
 name: splitter_left
@@ -142,7 +143,8 @@ components:
     pool: pool
     input_adapter: global/adapter
     output_adapter: global/adapter
-    output_name: "image"
+    input_name: "frame"
+    output_name: "frame"
     stream: global/stream
 ---
 name: global
@@ -214,11 +216,12 @@ components:
 components:
 - name: clock
   type: nvidia::gxf::RealtimeClock
-- type: nvidia::gxf::GreedyScheduler
+- type: nvidia::gxf::MultiThreadScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
-    check_recession_period_us: 100
+    check_recession_period_ms: 0.05
+    worker_thread_number: 2
 - type: nvidia::gxf::JobStatistics
   parameters:
     clock: clock

isaac_ros_argus_camera/config/argus_camera_mono_node.yaml

@@ -73,15 +73,12 @@ components:
     module_id: 0
     mode: 0
     framerate: 30
+    fsync_type: 1
     camera_type: 1
     output_format: 1
+    camera_provider: global_camera_provider/global_camera_provider
 - type: nvidia::gxf::PeriodicSchedulingTerm
   parameters:
-    transmitter: left_camera_output
-    recess_period: 30Hz
-- type: nvidia::gxf::PeriodicSchedulingTerm
-  parameters:
-    transmitter: right_camera_output
     recess_period: 30Hz
 ---
 name: rectify_parameters
@@ -136,6 +133,52 @@ components:
     right_camera_output: right_transmitter
     allocator: allocator
 ---
+name: stereo_camera_synchronizer
+components:
+- name: rx_left_camera
+  type: nvidia::gxf::DoubleBufferReceiver
+  parameters:
+    capacity: 1
+    policy: 0
+- type: nvidia::gxf::MessageAvailableSchedulingTerm
+  parameters:
+    receiver: rx_left_camera
+    min_size: 1
+- name: rx_right_camera
+  type: nvidia::gxf::DoubleBufferReceiver
+  parameters:
+    capacity: 1
+    policy: 0
+- type: nvidia::gxf::MessageAvailableSchedulingTerm
+  parameters:
+    receiver: rx_right_camera
+    min_size: 1
+- name: tx_left_camera
+  type: nvidia::gxf::DoubleBufferTransmitter
+  parameters:
+    capacity: 1
+    policy: 0
+- type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
+  parameters:
+    transmitter: tx_left_camera
+    min_size: 1
+- name: tx_right_camera
+  type: nvidia::gxf::DoubleBufferTransmitter
+  parameters:
+    capacity: 1
+    policy: 0
+- type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
+  parameters:
+    transmitter: tx_right_camera
+    min_size: 1
+- name: stereo_camera_synchronizer
+  type: nvidia::isaac::StereoCameraSynchronizer
+  parameters:
+    rx_left_camera: rx_left_camera
+    rx_right_camera: rx_right_camera
+    tx_left_camera: tx_left_camera
+    tx_right_camera: tx_right_camera
+---
 name: splitter_left
 components:
 - name: data_receiver
@@ -254,7 +297,7 @@ components:
     receiver: data_receiver
     min_size: 1
 - name: data_transmitter
-  parameters: 
+  parameters:
     capacity: 30
     policy: 0
   type: nvidia::gxf::DoubleBufferTransmitter
@@ -273,6 +316,7 @@ components:
     pool: pool
     input_adapter: global/adapter
     output_adapter: global/adapter
+    input_name: "frame"
     output_name: "frame"
     stream: global/stream
 ---
@@ -364,6 +408,10 @@ components:
 - type: nvidia::gxf::Connection
   parameters:
     source: rectify_parameters/left_transmitter
+    target: stereo_camera_synchronizer/rx_left_camera
+- type: nvidia::gxf::Connection
+  parameters:
+    source: stereo_camera_synchronizer/tx_left_camera
     target: splitter_left/data_receiver
 - type: nvidia::gxf::Connection
   parameters:
@@ -384,6 +432,10 @@ components:
 - type: nvidia::gxf::Connection
   parameters:
     source: rectify_parameters/right_transmitter
+    target: stereo_camera_synchronizer/rx_right_camera
+- type: nvidia::gxf::Connection
+  parameters:
+    source: stereo_camera_synchronizer/tx_right_camera
     target: splitter_right/data_receiver
 - type: nvidia::gxf::Connection
   parameters:
@@ -397,11 +449,12 @@ components:
 components:
 - name: clock
   type: nvidia::gxf::RealtimeClock
-- type: nvidia::gxf::GreedyScheduler
+- type: nvidia::gxf::MultiThreadScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
-    check_recession_period_us: 100
+    check_recession_period_ms: 0.05
+    worker_thread_number: 2
 - type: nvidia::gxf::JobStatistics
   parameters:
     clock: clock

isaac_ros_argus_camera/config/argus_camera_stereo_node.yaml

@@ -0,0 +1,22 @@
+%YAML 1.2
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+---
+name: global_camera_provider
+components:
+- name: global_camera_provider
+  type: nvidia::isaac::CameraProvider

isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml

@@ -0,0 +1,45 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+project(gxf_utils LANGUAGES C CXX)
+
+# Dependencies
+find_package(CUDAToolkit REQUIRED)
+find_package (Eigen3 3.3 REQUIRED NO_MODULE)
+find_package(GXF ${ISAAC_ROS_GXF_VERSION} MODULE REQUIRED
+    COMPONENTS
+    std
+    multimedia
+    isaac_messages
+)
+find_package(yaml-cpp)
+
+# Occupancy Grid Projector extension
+add_library(gxf_utils SHARED
+    extensions/utils/utils.cpp
+    extensions/utils/stereo_camera_synchronizer.cpp
+    extensions/utils/stereo_camera_synchronizer.hpp
+)
+set(CMAKE_INCLUDE_CURRENT_DIR TRUE)
+target_link_libraries(gxf_utils
+  PUBLIC
+    Eigen3::Eigen
+    GXF::std
+    GXF::multimedia
+    yaml-cpp
+    GXF::isaac_messages
+)