Merge pull request #3 from NVIDIA-ISAAC-ROS/release-dp-1.1

Isaac ROS 0.11.0 (DP1.1)

Author: hemalshahNV

README.md

@@ -58,15 +58,17 @@ The following are the benchmark performance results of the prepared pipelines in
   - [Updates](#updates)
 
 ## Latest Update
-Update 2022-06-30: Initial release.
+Update 2022-08-31: Update to be compatible with JetPack 5.0.2
 
 ## Supported Platforms
 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.
 
+> **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.
+
 
 | Platform | Hardware                                                                                                                                                                                          | Software                                                                                                             | Notes                                                                                                                                                                                   |
 | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Jetson   | [AGX Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[AGX 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. |
+| Jetson   | [AGX Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[AGX 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. |
 | x86_64   | NVIDIA GPU                                                                                                                                                                                        | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/) <br> [CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
 
 ### Docker
@@ -222,6 +224,7 @@ Make sure that the ROS bag has a reasonable size and publish rate.
 
 ## Updates
 
-| Date       | Changes         |
-| ---------- | --------------- |
-| 2022-06-30 | Initial release |
+| Date       | Changes                                    |
+| ---------- | ------------------------------------------ |
+| 2022-08-31 | Update to be compatible with JetPack 5.0.2 |
+| 2022-06-30 | Initial release                            |

isaac_ros_ess/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_ess</name>
-  <version>0.9.0</version>
+  <version>0.11.0</version>
   <description>DNN Stereo Disparity Network for Isaac ROS</description>
 
   <maintainer email="xutongr@nvidia.com">Xutong Ren</maintainer>
@@ -26,6 +26,9 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>isaac_ros_nitros</depend>
+  <depend>isaac_ros_nitros_camera_info_type</depend>
+  <depend>isaac_ros_nitros_disparity_image_type</depend>
+  <depend>isaac_ros_nitros_image_type</depend>
   <depend>isaac_ros_stereo_image_proc</depend>
 
   <test_depend>ament_lint_auto</test_depend>

isaac_ros_ess/src/ess_disparity_node.cpp

@@ -15,6 +15,10 @@
 #include <string>
 #include <utility>
 
+#include "isaac_ros_nitros_camera_info_type/nitros_camera_info.hpp"
+#include "isaac_ros_nitros_disparity_image_type/nitros_disparity_image.hpp"
+#include "isaac_ros_nitros_image_type/nitros_image.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
@@ -148,6 +152,10 @@ ESSDisparityNode::ESSDisparityNode(const rclcpp::NodeOptions & options)
     config_map_[INPUT_RIGHT_COMPONENT_KEY].use_compatible_format_only = true;
   }
 
+  registerSupportedType<nvidia::isaac_ros::nitros::NitrosCameraInfo>();
+  registerSupportedType<nvidia::isaac_ros::nitros::NitrosDisparityImage>();
+  registerSupportedType<nvidia::isaac_ros::nitros::NitrosImage>();
+
   startNitrosNode();
 }