Isaac ROS 0.30.0 (DP3)

Author: jaiveersinghNV

.gitattributes

@@ -1,3 +1,6 @@
+# Ignore Python files in linguist
+*.py linguist-detectable=false
+
 # Images
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,28 +1,30 @@
 # Tutorial for Bi3D with Isaac Sim
 
-<div align="center"><img src="../resources/Rviz.png" width="800px"/></div></br>
+<div align="center"><img src="../resources/Rviz.png" width="800px"/></div><br>
 
 ## Overview
 
-This tutorial walks through setting up a pipeline to [segment stereo image pairs](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_proximity_segmentation) generated by Isaac Sim by depth disparity levels. For more details on the output please refer to the [interpreting the output](../README.md#interpreting-the-output) section of the [main readme](../README.md).
+This tutorial walks through setting up a graph to [segment stereo image pairs](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_proximity_segmentation) generated by Isaac Sim by depth disparity levels. For more details on the output please refer to the [interpreting the output](../README.md#interpreting-the-output) section of the [main readme](../README.md).
+
+Last validated with [Isaac Sim 2022.2.1](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/release_notes.html#id1)
 
 ## Tutorial Walkthrough
 
 1. Complete steps 1-7 listed in the [Quickstart section](../README.md#quickstart) of the main README.
 2. Install and launch Isaac Sim following the steps in the [Isaac ROS Isaac Sim Setup Guide](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/isaac-sim-sil-setup.md)
-3. Open the Isaac ROS Common USD scene (using the **Content** window) located at:
+3. Open the Isaac ROS Common USD scene (using the *Content* tab) located at:
 
-   `omniverse://localhost/NVIDIA/Assets/Isaac/2022.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd`.
+    ```text
+    http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2022.2.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd
+    ```
 
    And wait for it to load completely.
-   > **Note:** To use a different server, replace `localhost` with `<your_nucleus_server>`
-4. Go to the **Stage** tab and select `/World/Carter_ROS/ROS_Cameras/ros2_create_camera_right_info`. In the **Property** tab, change the **Compute Node -> Inputs -> stereoOffset -> X** value from `0` to `-175.92`.
-    <div align="center"><img src="../resources/Isaac_sim_set_stereo_offset.png" width="500px"/></div></br>
-
-5. Enable the right camera for a stereo image pair. Go to the **Stage** tab and select `/World/Carter_ROS/ROS_Cameras/enable_camera_right`, then tick the **Condition** checkbox.
-    <div align="center"><img src="../resources/Isaac_sim_enable_stereo.png" width="500px"/></div></br>
+4. Go to the *Stage* tab and select `/World/Carter_ROS/ROS_Cameras/ros2_create_camera_right_info`, then in *Property* tab *-> OmniGraph Node -> Inputs -> stereoOffset X* change `0` to `-175.92`.
+    <div align="center"><img src="../resources/Isaac_sim_set_stereo_offset.png" width="500px"/></div>
+5. Enable the right camera for a stereo image pair. Go to the *Stage* tab and select `/World/Carter_ROS/ROS_Cameras/enable_camera_right`, then tick the *Condition* checkbox.
+    <div align="center"><img src="../resources/Isaac_sim_enable_stereo.png" width="500px"/></div>
 6. Press **Play** to start publishing data from the Isaac Sim application.
-    <div align="center"><img src="../resources/Isaac_sim_play.png" width="800px"/></div></br>
+    <div align="center"><img src="../resources/Isaac_sim_play.png" width="800px"/></div>
 7. Open a second terminal and attach to the container:
 
     ```bash

docs/tutorial-bi3d-freespace-isaac-sim.md

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2023 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.
@@ -15,51 +15,34 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.8)
-project(isaac_ros_bi3d)
-
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
+cmake_minimum_required(VERSION 3.23.2)
+project(isaac_ros_bi3d LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Default to Release build
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
-endif()
-
-message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-
-execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
-message(STATUS "Architecture: ${ARCHITECTURE}")
-
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-# bi3d_node
+# Bi3DNode
 ament_auto_add_library(bi3d_node SHARED src/bi3d_node.cpp)
-target_compile_definitions(bi3d_node
-  PRIVATE "COMPOSITION_BUILDING_DLL"
-)
 rclcpp_components_register_nodes(bi3d_node "nvidia::isaac_ros::bi3d::Bi3DNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::bi3d::Bi3DNode;$<TARGET_FILE:bi3d_node>\n")
 
-# Install config directory
-install(
-  DIRECTORY config
-  DESTINATION share/${PROJECT_NAME}
-)
+### Install extensions built from source
+
+# Bi3d
+add_subdirectory(gxf/bi3d)
+install(TARGETS gxf_cvcore_bi3d DESTINATION share/${PROJECT_NAME}/gxf/lib/bi3d)
+
+# Bi3d postprocessor
+add_subdirectory(gxf/bi3d_postprocessor)
+install(TARGETS gxf_bi3d_postprocessor DESTINATION share/${PROJECT_NAME}/gxf/lib/bi3d)
 
-set_target_properties(bi3d_node PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE)
-install(TARGETS bi3d_node
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+### End extensions
+
+install(PROGRAMS scripts/isaac_ros_bi3d_visualizer.py DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -69,9 +52,4 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_bi3d_test.py TIMEOUT "1000")
 endif()
 
-install(PROGRAMS
-  scripts/isaac_ros_bi3d_visualizer.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 ament_auto_package(INSTALL_TO_SHARE launch config)