Isaac ROS 3.0.0

Author: jaiveersinghNV

README.md

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2021-2024 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.
@@ -16,7 +16,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.22.1)
-project(isaac_ros_dnn_image_encoder LANGUAGES C CXX)
+project(isaac_ros_dnn_image_encoder LANGUAGES C CXX CUDA)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -29,6 +29,10 @@ ament_auto_find_build_dependencies()
 ament_auto_add_library(dnn_image_encoder_node SHARED src/dnn_image_encoder_node.cpp)
 rclcpp_components_register_nodes(dnn_image_encoder_node "nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode")
 set(node_plugins "${node_plugins}nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode;$<TARGET_FILE:dnn_image_encoder_node>\n")
+set_target_properties(dnn_image_encoder_node PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  BUILD_RPATH_USE_ORIGIN TRUE
+  INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -46,4 +50,4 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_dnn_image_encoder_image_norm_test.py)
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE config)
+ament_auto_package(INSTALL_TO_SHARE config launch)

isaac_ros_dnn_image_encoder/CMakeLists.txt

@@ -62,7 +62,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 1
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -82,7 +81,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -150,7 +148,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -159,7 +156,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: bbox_receiver
@@ -199,7 +195,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -235,7 +230,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -272,7 +266,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -307,7 +300,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: data_receiver
@@ -316,7 +308,6 @@ components:
   type: nvidia::gxf::DoubleBufferTransmitter
   parameters:
     capacity: 12
-    policy: 0
 - type: nvidia::gxf::DownstreamReceptiveSchedulingTerm
   parameters:
     transmitter: data_transmitter
@@ -348,7 +339,6 @@ components:
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
     capacity: 5
-    policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: signal
@@ -415,11 +405,10 @@ components:
     target: sink/signal
 ---
 components:
-- type: nvidia::gxf::MultiThreadScheduler
+- type: nvidia::gxf::EventBasedScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
-    check_recession_period_ms: 0.05
     worker_thread_number: 2
 - name: clock
   type: nvidia::gxf::RealtimeClock

isaac_ros_dnn_image_encoder/config/dnn_image_encoder_node.yaml

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2024 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.