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Isaac ROS 0.11.0 (DP1.1)
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‎README.md‎

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- [Updates](#updates)
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## Latest Update
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Update 2022-06-30: Added format string parameter in Triton/TensorRT, switched to NITROS implementation, removed parameters in DNN Image Encoder
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Update 2022-08-31: Update to be compatible with JetPack 5.0.2
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## Supported Platforms
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This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU.
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> **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release.
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| Platform | Hardware | Software | Notes |
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| -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.1 DP](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
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| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
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| x86_64 | NVIDIA GPU | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/) <br> [CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
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## Quickstart with Triton
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> **Note**: The quickstart helps with getting raw inference (tensor) results from the two nodes. To use the packages in a useful context and get meaningful results from the package, please refer [here](#use-different-models).
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1. Set up your development environment by following the instructions [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md).
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2. Clone this repository and its dependencies under `~/workspaces/isaac_ros-dev/src`.
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## Updates
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| Date | Changes |
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| ---------- | ---------------------------------------------------------------------------------------------------------------------------- |
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| 2022-08-31 | Update to be compatible with JetPack 5.0.2 |
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| 2022-06-30 | Added format string parameter in Triton/TensorRT, switched to NITROS implementation, removed parameters in DNN Image Encoder |
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| 2021-11-03 | Split DOPE and U-Net into separate repositories |
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| 2021-10-20 | Initial release |

‎isaac_ros_dnn_encoders/package.xml‎

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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_dnn_encoders</name>
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<version>0.9.0</version>
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<version>0.11.0</version>
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<description>Encoders for preprocessing before running deep learning inference</description>
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<maintainer email="[email protected]">Hemal Shah</maintainer>
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<license>NVIDIA Isaac ROS Software License</license>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>isaac_ros_nitros</depend>
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<depend>isaac_ros_nitros_image_type</depend>
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<depend>isaac_ros_nitros_tensor_list_type</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>

‎isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp‎

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#include <unordered_map>
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#include <vector>
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#include "isaac_ros_nitros/types/nitros_image.hpp"
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#include "isaac_ros_nitros_image_type/nitros_image.hpp"
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#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp"
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namespace nvidia
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{
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"this needs to be set per the model input requirements.");
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}
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registerSupportedType<nvidia::isaac_ros::nitros::NitrosImage>();
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registerSupportedType<nvidia::isaac_ros::nitros::NitrosTensorList>();
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startNitrosNode();
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}
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‎isaac_ros_dnn_inference_test/package.xml‎

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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_dnn_inference_test</name>
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<version>0.1.0</version>
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<version>0.11.0</version>
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<description>DNN Inference support for Isaac ROS</description>
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<maintainer email="[email protected]">Hemal Shah</maintainer>

‎isaac_ros_tensor_rt/package.xml‎

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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_tensor_rt</name>
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<version>0.1.0</version>
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<version>0.11.0</version>
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<description>DNN Inference support for Isaac ROS</description>
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<maintainer email="[email protected]">CY Chen</maintainer>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>isaac_ros_nitros</depend>
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<depend>isaac_ros_nitros_tensor_list_type</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>

‎isaac_ros_tensor_rt/src/tensor_rt_node.cpp‎

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#include <string>
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#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp"
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#include "rclcpp/rclcpp.hpp"
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output_tensor_formats_[0].c_str());
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registerSupportedType<nvidia::isaac_ros::nitros::NitrosTensorList>();
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startNitrosNode();
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}
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‎isaac_ros_triton/package.xml‎

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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_triton</name>
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<version>0.10.0</version>
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<version>0.11.0</version>
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<description>DNN Inference support for Isaac ROS</description>
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<maintainer email="[email protected]">CY Chen</maintainer>
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<depend>rclcpp</depend>
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<depend>isaac_ros_nitros_tensor_list_type</depend>
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‎isaac_ros_triton/src/triton_node.cpp‎

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#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp"
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registerSupportedType<nvidia::isaac_ros::nitros::NitrosTensorList>();
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}
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