Merge pull request #2 from NVIDIA-ISAAC-ROS/release-dp-1.0.1

hemalshahNV · web-flow · commit 1769d586e108 · 2022-07-12T18:53:50.000-07:00
Isaac ROS 0.10.1 (DP)
diff --git a/isaac_ros_ess/config/ess_inference.yaml b/isaac_ros_ess/config/ess_inference.yaml
@@ -12,7 +12,7 @@ components:
 - name: left_image_receiver
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 1
+    capacity: 12
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
@@ -21,7 +21,7 @@ components:
 - name: right_image_receiver
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 1
+    capacity: 12
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
@@ -35,7 +35,7 @@ components:
 - name: left_cam_receiver
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 1
+    capacity: 12
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
@@ -44,7 +44,7 @@ components:
 - name: right_cam_receiver
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 1
+    capacity: 12
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
@@ -104,7 +104,7 @@ components:
 - name: data_receiver_left
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 12
+    capacity: 1
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
@@ -113,7 +113,7 @@ components:
 - name: data_receiver_right
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 12
+    capacity: 1
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
diff --git a/isaac_ros_ess/src/ess_disparity_node.cpp b/isaac_ros_ess/src/ess_disparity_node.cpp
@@ -69,23 +69,23 @@ const nitros::NitrosPublisherSubscriberConfigMap CONFIG_MAP = {
   {INPUT_LEFT_COMPONENT_KEY,
     {
       .type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,
-      .qos = rclcpp::QoS(1),
+      .qos = rclcpp::QoS(10),
       .compatible_data_format = INPUT_DEFAULT_TENSOR_FORMAT,
       .topic_name = INPUT_LEFT_TOPIC_NAME,
     }
   },
   {INPUT_RIGHT_COMPONENT_KEY,
     {
       .type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,
-      .qos = rclcpp::QoS(1),
+      .qos = rclcpp::QoS(10),
       .compatible_data_format = INPUT_DEFAULT_TENSOR_FORMAT,
       .topic_name = INPUT_RIGHT_TOPIC_NAME,
     }
   },
   {OUTPUT_COMPONENT_KEY,
     {
       .type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,
-      .qos = rclcpp::QoS(1),
+      .qos = rclcpp::QoS(10),
       .compatible_data_format = OUTPUT_DEFAULT_TENSOR_FORMAT,
       .topic_name = OUTPUT_TOPIC_NAME,
       .frame_id_source_key = INPUT_LEFT_COMPONENT_KEY,
@@ -94,15 +94,15 @@ const nitros::NitrosPublisherSubscriberConfigMap CONFIG_MAP = {
   {INPUT_LEFT_CAM_COMPONENT_KEY,
     {
       .type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,
-      .qos = rclcpp::QoS(1),
+      .qos = rclcpp::QoS(10),
       .compatible_data_format = INPUT_CAMERA_INFO_FORMAT,
       .topic_name = INPUT_LEFT_CAMERA_TOPIC_NAME,
     }
   },
   {INPUT_RIGHT_CAM_COMPONENT_KEY,
     {
       .type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,
-      .qos = rclcpp::QoS(1),
+      .qos = rclcpp::QoS(10),
       .compatible_data_format = INPUT_CAMERA_INFO_FORMAT,
       .topic_name = INPUT_RIGHT_CAMERA_TOPIC_NAME,
     }

Original file line number	Diff line number	Diff line change
`@@ -69,23 +69,23 @@ const nitros::NitrosPublisherSubscriberConfigMap CONFIG_MAP = {`
`69`	`69`	`{INPUT_LEFT_COMPONENT_KEY,`
`70`	`70`	`{`
`71`	`71`	`.type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,`
`72`		`- .qos = rclcpp::QoS(1),`
	`72`	`+ .qos = rclcpp::QoS(10),`
`73`	`73`	`.compatible_data_format = INPUT_DEFAULT_TENSOR_FORMAT,`
`74`	`74`	`.topic_name = INPUT_LEFT_TOPIC_NAME,`
`75`	`75`	`}`
`76`	`76`	`},`
`77`	`77`	`{INPUT_RIGHT_COMPONENT_KEY,`
`78`	`78`	`{`
`79`	`79`	`.type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,`
`80`		`- .qos = rclcpp::QoS(1),`
	`80`	`+ .qos = rclcpp::QoS(10),`
`81`	`81`	`.compatible_data_format = INPUT_DEFAULT_TENSOR_FORMAT,`
`82`	`82`	`.topic_name = INPUT_RIGHT_TOPIC_NAME,`
`83`	`83`	`}`
`84`	`84`	`},`
`85`	`85`	`{OUTPUT_COMPONENT_KEY,`
`86`	`86`	`{`
`87`	`87`	`.type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,`
`88`		`- .qos = rclcpp::QoS(1),`
	`88`	`+ .qos = rclcpp::QoS(10),`
`89`	`89`	`.compatible_data_format = OUTPUT_DEFAULT_TENSOR_FORMAT,`
`90`	`90`	`.topic_name = OUTPUT_TOPIC_NAME,`
`91`	`91`	`.frame_id_source_key = INPUT_LEFT_COMPONENT_KEY,`
`@@ -94,15 +94,15 @@ const nitros::NitrosPublisherSubscriberConfigMap CONFIG_MAP = {`
`94`	`94`	`{INPUT_LEFT_CAM_COMPONENT_KEY,`
`95`	`95`	`{`
`96`	`96`	`.type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,`
`97`		`- .qos = rclcpp::QoS(1),`
	`97`	`+ .qos = rclcpp::QoS(10),`
`98`	`98`	`.compatible_data_format = INPUT_CAMERA_INFO_FORMAT,`
`99`	`99`	`.topic_name = INPUT_LEFT_CAMERA_TOPIC_NAME,`
`100`	`100`	`}`
`101`	`101`	`},`
`102`	`102`	`{INPUT_RIGHT_CAM_COMPONENT_KEY,`
`103`	`103`	`{`
`104`	`104`	`.type = nitros::NitrosPublisherSubscriberType::NEGOTIATED,`
`105`		`- .qos = rclcpp::QoS(1),`
	`105`	`+ .qos = rclcpp::QoS(10),`
`106`	`106`	`.compatible_data_format = INPUT_CAMERA_INFO_FORMAT,`
`107`	`107`	`.topic_name = INPUT_RIGHT_CAMERA_TOPIC_NAME,`
`108`	`108`	`}`