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jaiveersinghNVjaiveersinghNV
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Merge pull request #18 from NVIDIA-ISAAC-ROS/release-3.0
Isaac ROS 3.0.1
2 parents 72e2a9b + 2bf0009 commit e409f54

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5 files changed

+147
-64
lines changed

‎gxf_isaac_bi3d/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
2121
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>gxf_isaac_bi3d</name>
24-
<version>3.0.0</version>
24+
<version>3.0.1</version>
2525
<description>GXF extension containing Bi3D related components.</description>
2626

2727
<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_bi3d/config/isaac_ros_bi3d_isaac_sim.rviz‎

Lines changed: 129 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,8 @@ Panels:
55
Property Tree Widget:
66
Expanded:
77
- /Global Options1
8-
- /TF1
98
Splitter Ratio: 0.5
10-
Tree Height: 321
9+
Tree Height: 338
1110
- Class: rviz_common/Selection
1211
Name: Selection
1312
- Class: rviz_common/Tool Properties
@@ -86,42 +85,84 @@ Visualization Manager:
8685
Frame Timeout: 15
8786
Frames:
8887
All Enabled: false
89-
back_2d_lidar:
90-
Value: false
88+
back_fisheye_camera:
89+
Value: true
90+
back_fisheye_camera_optical:
91+
Value: true
92+
back_stereo_camera:
93+
Value: true
94+
back_stereo_camera_imu:
95+
Value: true
96+
back_stereo_camera_left:
97+
Value: true
98+
back_stereo_camera_left_optical:
99+
Value: true
100+
back_stereo_camera_right:
101+
Value: true
102+
back_stereo_camera_right_optical:
103+
Value: true
91104
base_link:
92105
Value: true
106+
chassis_imu:
107+
Value: true
93108
chassis_link:
94109
Value: false
95110
front_2d_lidar:
96111
Value: false
97112
front_3d_lidar:
98113
Value: false
99-
front_stereo_camera:imu:
100-
Value: false
101-
front_stereo_camera:left_rgb:
114+
front_fisheye_camera:
102115
Value: true
103-
front_stereo_camera:right_rgb:
116+
front_fisheye_camera_optical:
117+
Value: true
118+
front_stereo_camera:
119+
Value: true
120+
front_stereo_camera_imu:
121+
Value: true
122+
front_stereo_camera_left:
123+
Value: true
124+
front_stereo_camera_left_optical:
125+
Value: true
126+
front_stereo_camera_right:
127+
Value: true
128+
front_stereo_camera_right_optical:
129+
Value: true
130+
left_fisheye_camera:
131+
Value: true
132+
left_fisheye_camera_optical:
133+
Value: true
134+
left_stereo_camera:
135+
Value: true
136+
left_stereo_camera_imu:
137+
Value: true
138+
left_stereo_camera_left:
139+
Value: true
140+
left_stereo_camera_left_optical:
141+
Value: true
142+
left_stereo_camera_right:
143+
Value: true
144+
left_stereo_camera_right_optical:
104145
Value: true
105-
left_stereo_camera:imu:
106-
Value: false
107-
left_stereo_camera:left_rgb:
108-
Value: false
109-
left_stereo_camera:right_rgb:
110-
Value: false
111146
odom:
112147
Value: false
113-
rear_stereo_camera:imu:
114-
Value: false
115-
rear_stereo_camera:left_rgb:
116-
Value: false
117-
rear_stereo_camera:right_rgb:
118-
Value: false
119-
right_stereo_camera:imu:
120-
Value: false
121-
right_stereo_camera:left_rgb:
122-
Value: false
123-
right_stereo_camera:right_rgb:
124-
Value: false
148+
rear_2d_lidar:
149+
Value: true
150+
right_fisheye_camera:
151+
Value: true
152+
right_fisheye_camera_optical:
153+
Value: true
154+
right_stereo_camera:
155+
Value: true
156+
right_stereo_camera_imu:
157+
Value: true
158+
right_stereo_camera_left:
159+
Value: true
160+
right_stereo_camera_left_optical:
161+
Value: true
162+
right_stereo_camera_right:
163+
Value: true
164+
right_stereo_camera_right_optical:
165+
Value: true
125166
Marker Scale: 1
126167
Name: TF
127168
Show Arrows: true
@@ -130,37 +171,79 @@ Visualization Manager:
130171
Tree:
131172
odom:
132173
base_link:
133-
back_2d_lidar:
174+
back_fisheye_camera:
175+
{}
176+
back_fisheye_camera_optical:
177+
{}
178+
back_stereo_camera:
179+
{}
180+
back_stereo_camera_imu:
181+
{}
182+
back_stereo_camera_left:
183+
{}
184+
back_stereo_camera_left_optical:
185+
{}
186+
back_stereo_camera_right:
187+
{}
188+
back_stereo_camera_right_optical:
189+
{}
190+
chassis_imu:
134191
{}
135192
chassis_link:
136193
{}
137194
front_2d_lidar:
138195
{}
139196
front_3d_lidar:
140197
{}
141-
front_stereo_camera:imu:
198+
front_fisheye_camera:
199+
{}
200+
front_fisheye_camera_optical:
201+
{}
202+
front_stereo_camera:
203+
{}
204+
front_stereo_camera_imu:
205+
{}
206+
front_stereo_camera_left:
207+
{}
208+
front_stereo_camera_left_optical:
209+
{}
210+
front_stereo_camera_right:
211+
{}
212+
front_stereo_camera_right_optical:
213+
{}
214+
left_fisheye_camera:
215+
{}
216+
left_fisheye_camera_optical:
217+
{}
218+
left_stereo_camera:
219+
{}
220+
left_stereo_camera_imu:
221+
{}
222+
left_stereo_camera_left:
223+
{}
224+
left_stereo_camera_left_optical:
142225
{}
143-
front_stereo_camera:left_rgb:
226+
left_stereo_camera_right:
144227
{}
145-
front_stereo_camera:right_rgb:
228+
left_stereo_camera_right_optical:
146229
{}
147-
left_stereo_camera:imu:
230+
rear_2d_lidar:
148231
{}
149-
left_stereo_camera:left_rgb:
232+
right_fisheye_camera:
150233
{}
151-
left_stereo_camera:right_rgb:
234+
right_fisheye_camera_optical:
152235
{}
153-
rear_stereo_camera:imu:
236+
right_stereo_camera:
154237
{}
155-
rear_stereo_camera:left_rgb:
238+
right_stereo_camera_imu:
156239
{}
157-
rear_stereo_camera:right_rgb:
240+
right_stereo_camera_left:
158241
{}
159-
right_stereo_camera:imu:
242+
right_stereo_camera_left_optical:
160243
{}
161-
right_stereo_camera:left_rgb:
244+
right_stereo_camera_right:
162245
{}
163-
right_stereo_camera:right_rgb:
246+
right_stereo_camera_right_optical:
164247
{}
165248
Update Interval: 0
166249
Value: true
@@ -176,7 +259,7 @@ Visualization Manager:
176259
Durability Policy: Volatile
177260
History Policy: Keep Last
178261
Reliability Policy: Reliable
179-
Value: /front_stereo_camera/left_rgb/image_resize
262+
Value: /front_stereo_camera/left/image_resize
180263
Value: true
181264
- Class: rviz_default_plugins/Image
182265
Enabled: true
@@ -190,7 +273,7 @@ Visualization Manager:
190273
Durability Policy: Volatile
191274
History Policy: Keep Last
192275
Reliability Policy: Reliable
193-
Value: /front_stereo_camera/right_rgb/image_resize
276+
Value: /front_stereo_camera/right/image_resize
194277
Value: true
195278
Enabled: true
196279
Global Options:
@@ -253,20 +336,20 @@ Visualization Manager:
253336
Invert Z Axis: false
254337
Name: Current View
255338
Near Clip Distance: 0.009999999776482582
256-
Pitch: 0.3703981637954712
339+
Pitch: 0.5353981852531433
257340
Target Frame: <Fixed Frame>
258341
Value: Orbit (rviz)
259-
Yaw: 3.2772347927093506
342+
Yaw: 3.9472343921661377
260343
Saved: ~
261344
Window Geometry:
262345
Displays:
263346
collapsed: false
264-
Height: 1066
347+
Height: 1099
265348
Hide Left Dock: false
266349
Hide Right Dock: false
267350
Left Image:
268351
collapsed: false
269-
QMainWindow State: 000000ff00000000fd0000000400000000000001e000000390fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001ca000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004c00650066007400200049006d006100670065010000020b000000db0000002800fffffffb000000160052006900670068007400200049006d00610067006501000002ec000000df0000002800ffffff000000010000010f00000390fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000390000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000004850000039000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
352+
QMainWindow State: 000000ff00000000fd0000000400000000000001e0000003b1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001db000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004c00650066007400200049006d006100670065010000021c000000e30000002800fffffffb000000160052006900670068007400200049006d0061006700650100000305000000e70000002800ffffff000000010000010f000003b1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003b1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000485000003b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
270353
Right Image:
271354
collapsed: false
272355
Selection:
@@ -279,4 +362,4 @@ Window Geometry:
279362
collapsed: false
280363
Width: 1920
281364
X: 0
282-
Y: 267
365+
Y: 240

‎isaac_ros_bi3d/launch/isaac_ros_bi3d_isaac_sim.launch.py‎

Lines changed: 15 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -56,10 +56,10 @@ def generate_launch_description():
5656
'encoding_desired': 'rgb8',
5757
}],
5858
remappings=[
59-
('camera_info', 'front_stereo_camera/right_rgb/camerainfo'),
60-
('image', 'front_stereo_camera/right_rgb/image_raw'),
61-
('resize/camera_info', 'front_stereo_camera/right_rgb/camerainfo_resize'),
62-
('resize/image', 'front_stereo_camera/right_rgb/image_resize')]
59+
('camera_info', 'front_stereo_camera/right/camera_info'),
60+
('image', 'front_stereo_camera/right/image_rect_color'),
61+
('resize/camera_info', 'front_stereo_camera/right/camera_info_resize'),
62+
('resize/image', 'front_stereo_camera/right/image_resize')]
6363
)
6464

6565
image_resize_node_left = ComposableNode(
@@ -72,10 +72,10 @@ def generate_launch_description():
7272
'encoding_desired': 'rgb8',
7373
}],
7474
remappings=[
75-
('camera_info', 'front_stereo_camera/left_rgb/camerainfo'),
76-
('image', 'front_stereo_camera/left_rgb/image_raw'),
77-
('resize/camera_info', 'front_stereo_camera/left_rgb/camerainfo_resize'),
78-
('resize/image', 'front_stereo_camera/left_rgb/image_resize')]
75+
('camera_info', 'front_stereo_camera/left/camera_info'),
76+
('image', 'front_stereo_camera/left/image_rect_color'),
77+
('resize/camera_info', 'front_stereo_camera/left/camera_info_resize'),
78+
('resize/image', 'front_stereo_camera/left/image_resize')]
7979
)
8080

8181
bi3d_node = ComposableNode(
@@ -90,12 +90,12 @@ def generate_launch_description():
9090
'image_width': 960,
9191
'image_height': 576
9292
}],
93-
remappings=[('left_image_bi3d', 'front_stereo_camera/left_rgb/image_resize'),
93+
remappings=[('left_image_bi3d', 'front_stereo_camera/left/image_resize'),
9494
('left_camera_info_bi3d',
95-
'front_stereo_camera/left_rgb/camerainfo_resize'),
96-
('right_image_bi3d', 'front_stereo_camera/right_rgb/image_resize'),
95+
'front_stereo_camera/left/camera_info_resize'),
96+
('right_image_bi3d', 'front_stereo_camera/right/image_resize'),
9797
('right_camera_info_bi3d',
98-
'front_stereo_camera/right_rgb/camerainfo_resize')])
98+
'front_stereo_camera/right/camera_info_resize')])
9999

100100
pointcloud_node = ComposableNode(
101101
package='isaac_ros_stereo_image_proc',
@@ -104,11 +104,11 @@ def generate_launch_description():
104104
'use_color': True,
105105
'unit_scaling': 0.3
106106
}],
107-
remappings=[('left/image_rect_color', 'front_stereo_camera/left_rgb/image_resize'),
107+
remappings=[('left/image_rect_color', 'front_stereo_camera/left/image_resize'),
108108
('left/camera_info',
109-
'front_stereo_camera/left_rgb/camerainfo_resize'),
109+
'front_stereo_camera/left/camera_info_resize'),
110110
('right/camera_info',
111-
'front_stereo_camera/right_rgb/camerainfo_resize'),
111+
'front_stereo_camera/right/camera_info_resize'),
112112
('disparity', 'bi3d_node/bi3d_output')])
113113

114114
container = ComposableNodeContainer(

‎isaac_ros_bi3d/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
2121
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>isaac_ros_bi3d</name>
24-
<version>3.0.0</version>
24+
<version>3.0.1</version>
2525
<description>Bi3D inference network for ROS</description>
2626

2727
<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_nitros_bi3d_inference_param_array_type/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
2121
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
2222
<package format="3">
2323
<name>isaac_ros_nitros_bi3d_inference_param_array_type</name>
24-
<version>3.0.0</version>
24+
<version>3.0.1</version>
2525
<description>Isaac ROS Nitros Bi3D Inferece Param Array Type</description>
2626

2727
<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

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