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jaiveersinghNVjaiveersinghNV
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Merge pull request #224 from NVIDIA-ISAAC-ROS/release-4.0
Release 4.0
2 parents 68d8358 + e1119d8 commit dd280f4

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‎isaac_ros_common/cmake/isaac_ros_common-extras-assets.cmake‎

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@@ -50,8 +50,11 @@ function(install_isaac_ros_asset TARGET_NAME)
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# Register the install script as an ament resource such that it can
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# be retrieved by other packages.
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message(STATUS "Registering ament resource: ${INSTALL_SCRIPT} as ${TARGET_NAME}")
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ament_index_register_resource("${TARGET_NAME}" CONTENT "${INSTALL_SCRIPT}")
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# Use the path where the script will live in the installed layout so that
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# consumers on the target system can discover and execute it.
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set(INSTALL_SCRIPT_INSTALLED "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/${TARGET_NAME}.sh")
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message(STATUS "Registering ament resource: ${INSTALL_SCRIPT_INSTALLED} as ${TARGET_NAME}")
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ament_index_register_resource("${TARGET_NAME}" CONTENT "${INSTALL_SCRIPT_INSTALLED}")
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endfunction()
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‎isaac_ros_common/package.xml‎

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@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
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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>isaac_ros_common</name>
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<version>4.0.0</version>
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<version>4.0.1</version>
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<description>Utilities for performing common functions in Isaac ROS packages</description>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

‎isaac_ros_nova_interfaces/CMakeLists.txt‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.22.1)
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project(isaac_ros_nova_interfaces LANGUAGES C CXX)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# The FindPythonInterp and FindPythonLibs modules are removed
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if(POLICY CMP0148)
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cmake_policy(SET CMP0148 OLD)
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endif()
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Prepare custom interfaces
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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msg/CorrelatedTimestamp.msg
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msg/EncoderTicks.msg
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DEPENDENCIES std_msgs
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)
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ament_export_dependencies(rosidl_default_runtime)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${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()

‎isaac_ros_nova_interfaces/msg/CorrelatedTimestamp.msg‎

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# Correlated timestamp
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# Nova has three seperate clocks that we must keep track of, the PTP hardware clock (PHC), the
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# Timer's System Counter (TSC), and the system clock mainatined by the kernel (sys).
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# This struct contains two pairs of correlated timestamps, phc_val_ anc tsc_val are taken
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# simultanously, and phc2_val and sys_val_ are taken simultanously.
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# phc and tsc are captured at the same time
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std_msgs/Header header
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uint64 phc_val # PTP Hardware Clock (PHC)
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uint64 tsc_val # Timer's System Counter (TSC)
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# phc2 and tsc are captures at the same time.
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uint64 phc2_val # PTP Hardware Clock (PHC), same clock as phc_val_ above, but taken at a
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# different time
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uint64 sys_val # System Clock (Sys)
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# Deprecated, previously used for sanity checking output from NVPPS, but we no longer use NVPPS
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uint64 phc_latency

‎isaac_ros_nova_interfaces/msg/EncoderTicks.msg‎

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# Encoder Ticks
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std_msgs/Header header
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uint32 left_ticks # Ticks from the left wheel
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uint32 right_ticks # Ticks from the right wheel
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uint64 encoder_timestamp # Timestamp from the encoder

‎isaac_ros_nova_interfaces/package.xml‎

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<?xml version="1.0"?>
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<!--
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Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved.
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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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<?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>isaac_ros_nova_interfaces</name>
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<version>4.0.1</version>
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<description>Interfaces for Isaac ROS Nova</description>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
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<license>NVIDIA Isaac ROS Software License</license>
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<url type="website">https://developer.nvidia.com/isaac-ros-gems/</url>
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<author>Ashwin Varghese Kuruttukulam</author>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<depend>std_msgs</depend>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<build_depend>isaac_ros_common</build_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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