Isaac ROS 0.9.3 (EA3)

Author: hemalshahNV

README.md

@@ -27,19 +27,22 @@ This has been tested on ROS2 (Foxy) and should build and run on x86_64 and aarch
 
 For more documentation on TensorRT, see [here](https://developer.nvidia.com/tensorrt). Note that the TensorRT node integrates the TensorRT API directly, so there is no need to make any calls or direct usage of TensorRT SDK.
 
-For more documentation on Triton, see [here](https://github.com/triton-inference-server/server).
+For more documentation on Triton, see [here](https://github.com/triton-inference-server/server). 
+
+For solutions to known issues, please visit the [Troubleshooting](#troubleshooting) section below.
 
 ## System Requirements
 This Isaac ROS package is designed and tested to be compatible with ROS2 Foxy on Jetson hardware, in addition to on x86 systems with an Nvidia GPU. On x86 systems, packages are only supported when run in the provided Isaac ROS Dev Docker container.
 
 ### Jetson
-- AGX Xavier or Xavier NX
-- JetPack 4.6
+- [Jetson AGX Xavier or Xavier NX](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/)
+- [JetPack 4.6.1](https://developer.nvidia.com/embedded/jetpack)
 
 ### x86_64 (in Isaac ROS Dev Docker Container)
-- CUDA 11.1+ supported discrete GPU
-- VPI 1.1.11
 - Ubuntu 20.04+
+- CUDA 11.4 supported discrete GPU
+- VPI 1.1.11
+
 
 **Note:** For best performance on Jetson, ensure that power settings are configured appropriately ([Power Management for Jetson](https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/power_management_jetson_xavier.html#wwpID0EUHA)).
 

isaac_ros_dnn_encoders/CMakeLists.txt

@@ -18,6 +18,12 @@ 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}" )
+
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 

isaac_ros_dnn_inference_test/CMakeLists.txt

@@ -18,7 +18,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
+# 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)

isaac_ros_tensor_rt/CMakeLists.txt

@@ -18,7 +18,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
+# 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)

isaac_ros_tensor_rt/config/tensor_rt_inference.yaml

@@ -28,7 +28,7 @@ components:
     policy: 0
 - name: pool
   type: nvidia::gxf::UnboundedAllocator
-- type: nvidia::isaac::TensorRtInference
+- type: nvidia::gxf::TensorRtInference
   parameters:
     model_file_path: /tmp/model_file.onnx
     engine_file_path: /tmp/trt_engine.plan

isaac_ros_tensor_rt/src/tensor_rt_node.cpp

@@ -33,7 +33,7 @@ const char * dnn_inference_extensions[] = {
 constexpr uint32_t extensions_length = 5;
 constexpr char package_name[] = "isaac_ros_tensor_rt";
 constexpr char group_name[] = "inference";
-constexpr char codelet_type[] = "nvidia::isaac::TensorRtInference";
+constexpr char codelet_type[] = "nvidia::gxf::TensorRtInference";
 constexpr int64_t default_max_workspace_size = 67108864l;
 constexpr int64_t default_dla_core = -1;
 

isaac_ros_triton/CMakeLists.txt

@@ -18,7 +18,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
+# 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)