Merge pull request #2 from NVIDIA-ISAAC-ROS/release-dp3.1

Isaac ROS 0.31.0 (DP3.1)

Author: jaiveersinghNV

README.md

@@ -20,10 +20,10 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 The following table summarizes the per-platform performance statistics of sample graphs that use this package, with links included to the full benchmark output. These benchmark configurations are taken from the [Isaac ROS Benchmark](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark#list-of-isaac-ros-benchmarks) collection, based on the [`ros2_benchmark`](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) framework.
 
-| Sample Graph                                                                                                                                  | Input Size | AGX Orin                                                                                                                                     | Orin NX                                                                                                                                      | Orin Nano 8GB                                                                                                                                      | x86_64 w/ RTX 3060 Ti                                                                                                                                  |
-| --------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [Freespace Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_bi3d_fs_node.py)   | 576p       | [1680 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-agx_orin.json)<br>1.1 ms | [1240 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nx.json)<br>1.3 ms  | [926 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nano_8gb.json)<br>1.7 ms   | [2830 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-x86_64_rtx_3060Ti.json)<br>0.31 ms |
-| [Freespace Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_bi3d_fs_graph.py) | 576p       | [53.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-agx_orin.json)<br>41 ms | [28.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nx.json)<br>120 ms | [19.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nano_8gb.json)<br>100 ms | [167 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-x86_64_rtx_3060Ti.json)<br>26 ms   |
+| Sample Graph                                                                                                                                  | Input Size | AGX Orin                                                                                                                                     | Orin NX                                                                                                                                      | Orin Nano 8GB                                                                                                                                  | x86_64 w/ RTX 4060 Ti                                                                                                                           |
+| --------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
+| [Freespace Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_bi3d_fs_node.py)   | 576p       | [1800 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-agx_orin.json)<br>1.5 ms | [1710 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nx.json)<br>1.8 ms  | [1140 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-orin_nano.json)<br>2.1 ms  | [3500 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_node-nuc_4060ti.json)<br>0.36 ms |
+| [Freespace Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_bi3d_fs_graph.py) | 576p       | [54.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-agx_orin.json)<br>36 ms | [28.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nx.json)<br>120 ms | [23.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-orin_nano.json)<br>140 ms | [178 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_fs_graph-nuc_4060ti.json)<br>30 ms   |
 
 
 ## Table of Contents
@@ -52,7 +52,7 @@ The following table summarizes the per-platform performance statistics of sample
 
 ## Latest Update
 
-Update 2023-04-05: Initial release
+Update 2023-05-25: Performance improvements.
 
 ## Supported Platforms
 
@@ -248,6 +248,7 @@ Check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference/blob/ma
 
 ## Updates
 
-| Date       | Changes         |
-| ---------- | --------------- |
-| 2023-04-05 | Initial release |
+| Date       | Changes                  |
+| ---------- | ------------------------ |
+| 2023-05-25 | Performance improvements |
+| 2023-04-05 | Initial release          |

isaac_ros_bi3d_freespace/config/freespace_segmentation_node.yaml

@@ -1,6 +1,6 @@
 %YAML 1.2
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -50,7 +50,7 @@ components:
     transmitter: occupancy_grid_out
     min_size: 1
 ---
-name: vault
+name: sink
 components:
 - name: signal
   type: nvidia::gxf::DoubleBufferReceiver
@@ -61,24 +61,26 @@ components:
   parameters:
     receiver: signal
     min_size: 1
-- name: vault
-  type: nvidia::gxf::Vault
+- name: sink
+  type: nvidia::isaac_ros::MessageRelay
   parameters:
     source: signal
-    max_waiting_count: 1
-    drop_waiting: false
 ---
 components:
 - name: edge0
   type: nvidia::gxf::Connection
   parameters:
     source: freespace_segmentation/occupancy_grid_out
-    target: vault/signal
+    target: sink/signal
 ---
 components:
+- name: clock
+  type: nvidia::gxf::RealtimeClock
 - type: nvidia::gxf::GreedyScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
-- name: clock
-  type: nvidia::gxf::RealtimeClock
+    check_recession_period_us: 100
+- type: nvidia::gxf::JobStatistics
+  parameters:
+    clock: clock

isaac_ros_bi3d_freespace/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_bi3d_freespace</name>
-  <version>0.30.0</version>
+  <version>0.31.0</version>
   <description>Freespace segmentation using the Bi3D inference network for ROS</description>
 
   <maintainer email="[email protected]">Hemal Shah</maintainer>

isaac_ros_bi3d_freespace/src/freespace_segmentation_node.cpp

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -37,7 +37,7 @@ constexpr char INPUT_COMPONENT_KEY[] = "freespace_segmentation/mask_in";
 constexpr char INPUT_DEFAULT_TENSOR_FORMAT[] = "nitros_disparity_image_32FC1";
 constexpr char INPUT_TOPIC_NAME[] = "bi3d_mask";
 
-constexpr char OUTPUT_COMPONENT_KEY[] = "vault/vault";
+constexpr char OUTPUT_COMPONENT_KEY[] = "sink/sink";
 constexpr char OUTPUT_DEFAULT_TENSOR_FORMAT[] = "nitros_occupancy_grid";
 constexpr char OUTPUT_TOPIC_NAME[] = "freespace_segmentation/occupancy_grid";