Isaac ROS 4.0

Author: jaiveersinghNV

SECURITY.md

@@ -0,0 +1,24 @@
+## Security
+
+NVIDIA is dedicated to the security and trust of our software products and services, including all source code repositories managed through our organization.
+
+If you need to report a security issue, please use the appropriate contact points outlined below. **Please do not report security vulnerabilities through GitHub.**
+
+## Reporting Potential Security Vulnerability in an NVIDIA Product
+
+To report a potential security vulnerability in any NVIDIA product:
+- Web: [Security Vulnerability Submission Form](https://www.nvidia.com/object/submit-security-vulnerability.html)
+- E-Mail: [email protected]
+    - We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
+    - Please include the following information:
+      - Product/Driver name and version/branch that contains the vulnerability
+      - Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
+      - Instructions to reproduce the vulnerability
+      - Proof-of-concept or exploit code
+      - Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
+
+While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/) policies page for more information.
+
+## NVIDIA Product Security
+
+For all security-related concerns, please visit NVIDIA's Product Security portal at https://www.nvidia.com/en-us/security

isaac_ros_examples/isaac_ros_examples/isaac_ros_launch_fragment_spec.py

@@ -95,6 +95,10 @@ def __init__(self, package, class_name, filename=''):
         'isaac_ros_image_resize_rectify_stereo_core.launch.py'),
 
     # Isaac ROS Depth Proc
+    # Align depth to color
+    'align_depth_to_color': IsaacROSLaunchFragmentSpec(
+        'isaac_ros_depth_image_proc', 'IsaacROSAlignDepthToColorLaunchFragment',
+        'isaac_ros_depth_image_proc_align_depth_to_color_core.launch.py'),
     # Convert depth to metric
     'convert_metric': IsaacROSLaunchFragmentSpec(
         'isaac_ros_depth_image_proc', 'IsaacROSConvertMetricLaunchFragment',
@@ -136,17 +140,13 @@ def __init__(self, package, class_name, filename=''):
     'stereo_h264_encoder': IsaacROSLaunchFragmentSpec(
         'isaac_ros_h264_encoder', 'IsaacROSStereoH264EncoderLaunchFragment'),
 
-    # Isaac ROS Depth Segmentation
-    'bi3d': IsaacROSLaunchFragmentSpec(
-        'isaac_ros_bi3d', 'IsaacROSBi3DLaunchFragment'),
 
     # Isaac ROS DNN Stereo Depth
     'ess_disparity': IsaacROSLaunchFragmentSpec(
         'isaac_ros_ess', 'IsaacROSEssLaunchFragment'),
+    'foundationstereo': IsaacROSLaunchFragmentSpec(
+        'isaac_ros_foundationstereo', 'IsaacROSFoundationStereoLaunchFragment'),
 
-    # Isaac ROS Freespace Segmentation
-    'bi3d_freespace': IsaacROSLaunchFragmentSpec(
-        'isaac_ros_bi3d_freespace', 'IsaacROSBi3DFreespaceLaunchFragment'),
 
     # Isaac ROS Image Pipeline
     'resize': IsaacROSLaunchFragmentSpec(
@@ -167,10 +167,14 @@ def __init__(self, package, class_name, filename=''):
         'isaac_ros_segformer', 'IsaacROSSegformerLaunchFragment'),
     'segment_anything': IsaacROSLaunchFragmentSpec(
         'isaac_ros_segment_anything', 'IsaacROSSegmentAnythingLaunchFragment'),
+    'segment_anything2': IsaacROSLaunchFragmentSpec(
+        'isaac_ros_segment_anything2', 'IsaacROSSegmentAnything2LaunchFragment'),
     'unet': IsaacROSLaunchFragmentSpec(
         'isaac_ros_unet', 'IsaacROSUNetLaunchFragment'),
 
     # Isaac ROS Object Detection
+    'grounding_dino': IsaacROSLaunchFragmentSpec(
+        'isaac_ros_grounding_dino', 'IsaacROSGroundingDinoLaunchFragment'),
     'rtdetr': IsaacROSLaunchFragmentSpec(
         'isaac_ros_rtdetr', 'IsaacROSRtDetrLaunchFragment'),
     'detectnet': IsaacROSLaunchFragmentSpec(

isaac_ros_examples/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_examples</name>
-  <version>3.2.5</version>
+  <version>4.0.0</version>
   <description>Utilities for launching example graphs of Isaac ROS packages</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_examples/setup.py

@@ -38,7 +38,11 @@
     maintainer_email='[email protected]',
     description='Utilities for launching example graphs of Isaac ROS packages',
     license='NVIDIA Isaac ROS Software License',
-    tests_require=['pytest'],
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
     entry_points={
         'console_scripts': [
         ],