Merge pull request #4 from NVIDIA-ISAAC-ROS/release-dp-2

Isaac ROS 0.20.0 (DP2)

Author: hemalshahNV

CONTRIBUTING.md

@@ -0,0 +1,14 @@
+# Isaac ROS Contribution Rules
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+> **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+
+[//]: # (202201002)

LICENSE

@@ -0,0 +1,34 @@
+# Tutorial for DNN Stereo Depth Estimation using a RealSense camera
+
+<div align="center"><img src="../resources/realsense_example.png"/></div>
+
+## Overview
+
+This tutorial demonstrates how to perform stereo-camera-based reconstruction using a [RealSense](https://www.intel.com/content/www/us/en/architecture-and-technology/realsense-overview.html) camera and [isaac_ros_ess](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_stereo_disparity).
+
+> Note: This tutorial has been tested with a RealSense D455/D435 camera connected to a Jetson Xavier AGX, as well as an x86 PC with an NVIDIA graphics card.
+
+## Tutorial Walkthrough
+
+1. Complete the [realsense setup tutorial](https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/realsense-setup.md).
+2. Complete steps 1-2 described in the [Quickstart Guide](../README.md#quickstart).
+3. Open a new terminal and launch the Docker container using the `run_dev.sh` script:
+
+    ```bash
+    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+      ./scripts/run_dev.sh
+    ```
+
+4. Build and source the workspace:
+
+    ```bash
+    cd /workspaces/isaac_ros-dev && \
+      colcon build --symlink-install && \
+      source install/setup.bash
+    ```
+
+5. Run the launch file, which launches the example and waits for 10 seconds:
+
+    ```bash
+    ros2 launch isaac_ros_ess isaac_ros_ess_realsense.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity/resources/ess.engine
+    ```

README.md

@@ -0,0 +1,45 @@
+# Tutorial for DNN Stereo Depth Estimation with Isaac Sim
+
+<div align="center"><img src="../resources/Rviz.png" width="800px"/></div>
+
+## Overview
+
+This tutorial walks you through a pipeline to [estimate depth](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_stereo_disparity) with stereo images from Isaac Sim.
+
+## Tutorial Walkthrough
+
+1. Complete steps 1-7 listed in the [Quickstart section](../README.md#quickstart) of the main README.
+2. Install and launch Isaac Sim following the steps in the [Isaac ROS Isaac Sim Setup Guide](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/isaac-sim-sil-setup.md)
+3. Open the Isaac ROS Common USD scene (using the **Content** window) located at:
+
+   `omniverse://localhost/NVIDIA/Assets/Isaac/2022.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd`.
+
+   Wait for the scene to load completely.
+   > **Note:** To use a different server, replace `localhost` with `<your_nucleus_server>`
+4. Go to the **Stage** tab and select `/World/Carter_ROS/ROS_Cameras/ros2_create_camera_right_info`. In the **Property** tab, locate the **Compute Node -> Inputs -> stereoOffset -> X** value and change it from `0` to `-175.92`.
+    <div align="center"><img src="../resources/Isaac_sim_set_stereo_offset.png" width="500px"/></div>
+
+5. Enable the right camera for a stereo image pair. Go to the **Stage** tab and select `/World/Carter_ROS/ROS_Cameras/enable_camera_right`, then tick the **Condition** checkbox.
+    <div align="center"><img src="../resources/Isaac_sim_enable_stereo.png" width="500px"/></div>
+6. Press **Play** to start publishing data from the Isaac Sim application.
+    <div align="center"><img src="../resources/Isaac_sim_play.png" width="800px"/></div>
+7. Open a second terminal and attach to the container:
+
+    ```bash
+    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
+    ./scripts/run_dev.sh
+    ```
+
+8. In the second terminal, start the `isaac_ros_ess` node using the launch files:
+
+    ```bash
+    ros2 launch isaac_ros_ess isaac_ros_ess_isaac_sim.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity/resources/ess.engine
+    ```
+
+9. Optionally, you can run the visualizer script to visualize the disparity image.
+
+    ```bash
+    ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py
+    ```
+
+    <div align="center"><img src="../resources/Visualizer_isaac_sim.png" width="500px"/></div>

docs/tutorial-ess-realsense.md

@@ -14,7 +14,7 @@ If you have an [Argus-compatible camera](https://github.com/NVIDIA-ISAAC-ROS/isa
 To start the graph, follow the steps below:
 
 1. Follow the [Quickstart section](../README.md#quickstart) up to step 6 in the main README.
-   
+
 2. Outside the container, clone an additional repository required to run Argus-compatible camera under `~/workspaces/isaac_ros-dev/src`.
 
     ```bash
@@ -25,17 +25,21 @@ To start the graph, follow the steps below:
     git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_argus_camera
     ```
 
-3.  Inside the container, build and source the workspace:
+3. Inside the container, build and source the workspace:
+
     ```bash
     cd /workspaces/isaac_ros-dev && \
       colcon build && \
       source install/setup.bash
     ```
-4.  (Optional) Run tests to verify complete and correct installation:
+
+4. (Optional) Run tests to verify complete and correct installation:
+
     ```bash
     colcon test --executor sequential
     ```
 
 5. Launch ESS Disparity Node:
+
    ```bash
    ros2 launch isaac_ros_ess isaac_ros_argus_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity/resources/ess.engine

docs/tutorial-isaac-sim.md

@@ -7,23 +7,28 @@ In addition to supporting the ROS Bag input type, the `isaac_ros_ess_visualizer.
 1. Complete the [Quickstart](../README.md#quickstart) guide first.
 
 2. Pull the example data:
+
    ```bash
    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity && \
    git lfs pull -X "" -I "resources/examples"
    ```
 
 3. Launch the ESS Disparity Node:
+
    ```bash
    ros2 launch isaac_ros_ess isaac_ros_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_disparity/resources/ess.engine
    ```
 
 4. Visualize and validate the output of the package:
+
     ```bash
     ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py --raw_inputs
     ```
+
     <div align="center"><img src="../resources/output_raw.png" width="600px" title="Output of ESS Disparity Node."/></div>
 
 5. Try your own examples:
+
     ```bash
     ros2 run isaac_ros_ess isaac_ros_ess_visualizer.py --raw_inputs \
             --left_image_path '<Absolute path to your left image>' \

docs/tutorial-nitros-graph.md

@@ -1,12 +1,21 @@
-# Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(isaac_ros_ess LANGUAGES C CXX)
 
 
@@ -23,10 +32,10 @@ endif()
 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}" )
+message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
 
 execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
-message( STATUS "Architecture: ${ARCHITECTURE}" )
+message(STATUS "Architecture: ${ARCHITECTURE}")
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -38,14 +47,14 @@ target_compile_definitions(isaac_ros_ess_node
   PRIVATE "COMPOSITION_BUILDING_DLL"
 )
 target_link_libraries(isaac_ros_ess_node)
-rclcpp_components_register_node(isaac_ros_ess_node
-  PLUGIN "nvidia::isaac_ros::dnn_stereo_disparity::ESSDisparityNode"
-  EXECUTABLE isaac_ros_ess)
+rclcpp_components_register_nodes(isaac_ros_ess_node "nvidia::isaac_ros::dnn_stereo_disparity::ESSDisparityNode")
+set(node_plugins "${node_plugins}nvidia::isaac_ros::dnn_stereo_disparity::ESSDisparityNode;$<TARGET_FILE:isaac_ros_ess_node>\n")
 
-# Install config directory
-install(
-  DIRECTORY config
-  DESTINATION share/${PROJECT_NAME}
+# Install visualizer python scripts
+
+install(PROGRAMS
+  scripts/isaac_ros_ess_visualizer.py
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 # Install package executable
@@ -55,37 +64,12 @@ install(TARGETS isaac_ros_ess_node
   RUNTIME DESTINATION bin
 )
 
-# Install extensions directory
-if( ${ARCHITECTURE} STREQUAL "x86_64" )
-  install(DIRECTORY gxf/lib/gxf_x86_64/ DESTINATION share/${PROJECT_NAME}/gxf)
-elseif( ${ARCHITECTURE} STREQUAL "aarch64" )
-  install(DIRECTORY gxf/lib/gxf_jetpack50/ DESTINATION share/${PROJECT_NAME}/gxf)
-endif()
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-
-  # Ignore copyright notices since we use custom NVIDIA Isaac ROS Software License
-  set(ament_cmake_copyright_FOUND TRUE)
-
   ament_lint_auto_find_test_dependencies()
 
   find_package(launch_testing_ament_cmake REQUIRED)
   add_launch_test(test/isaac_ros_ess_test.py TIMEOUT "300")
 endif()
 
-# Launch/Visualizer python scripts
-ament_python_install_package(${PROJECT_NAME})
-# Install Python executables
-install(PROGRAMS
-  launch/isaac_ros_ess.launch.py
-  launch/isaac_ros_argus_ess.launch.py
-  DESTINATION share/${PROJECT_NAME}
-)
-
-install(PROGRAMS
-  scripts/isaac_ros_ess_visualizer.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE launch config)

docs/visualize-image.md

@@ -1,11 +1,20 @@
 %YAML 1.2
-# Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
 ---
 name: sync
 components: