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Isaac ROS 3.2
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‎README.md‎

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@@ -44,11 +44,11 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
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## Performance
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| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | Orin Nano 8GB<br/><br/> | x86_64 w/ RTX 4060 Ti<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
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|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_segment_anything_graph.py)<br/><br/><br/>Full SAM<br/><br/> | 720p<br/><br/><br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-agx_orin.json)<br/><br/><br/>470 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | –<br/><br/><br/><br/> | –<br/><br/><br/><br/> | [14.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-x86_4090.json)<br/><br/><br/>79 ms @ 30Hz<br/><br/> |
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| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_mobile_segment_anything_graph.py)<br/><br/><br/>Mobile SAM<br/><br/> | 720p<br/><br/><br/><br/> | [10.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-agx_orin.json)<br/><br/><br/>880 ms @ 30Hz<br/><br/> | [5.13 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nx.json)<br/><br/><br/>1500 ms @ 30Hz<br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nano.json)<br/><br/><br/>360 ms @ 30Hz<br/><br/> | [27.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-nuc_4060ti.json)<br/><br/><br/>62 ms @ 30Hz<br/><br/> | [60.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-x86_4090.json)<br/><br/><br/>27 ms @ 30Hz<br/><br/> |
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| [TensorRT Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_unet_benchmark/scripts/isaac_ros_unet_graph.py)<br/><br/><br/>PeopleSemSegNet<br/><br/> | 544p<br/><br/><br/><br/> | [371 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-agx_orin.json)<br/><br/><br/>19 ms @ 30Hz<br/><br/> | [250 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nx.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [163 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nano.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/> | [670 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-nuc_4060ti.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/> | [688 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-x86_4090.json)<br/><br/><br/>9.3 ms @ 30Hz<br/><br/> |
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| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | Orin Nano 8GB<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
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|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_segment_anything_graph.py)<br/><br/><br/>Full SAM<br/><br/> | 720p<br/><br/><br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-agx_orin.json)<br/><br/><br/>390 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | –<br/><br/><br/><br/> | [16.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-x86-4090.json)<br/><br/><br/>280 ms @ 30Hz<br/><br/> |
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| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_mobile_segment_anything_graph.py)<br/><br/><br/>Mobile SAM<br/><br/> | 720p<br/><br/><br/><br/> | [8.75 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-agx_orin.json)<br/><br/><br/>570 ms @ 30Hz<br/><br/> | [5.34 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nx.json)<br/><br/><br/>1400 ms @ 30Hz<br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nano.json)<br/><br/><br/>340 ms @ 30Hz<br/><br/> | [68.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-x86-4090.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/> |
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| [TensorRT Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_unet_benchmark/scripts/isaac_ros_unet_graph.py)<br/><br/><br/>PeopleSemSegNet<br/><br/> | 544p<br/><br/><br/><br/> | [371 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-agx_orin.json)<br/><br/><br/>19 ms @ 30Hz<br/><br/> | [250 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nx.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [163 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nano.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/> | [670 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-nuc_4060ti.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/> |
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---
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@@ -78,4 +78,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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## Latest
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Update 2024-09-26: Update for ZED compatibility
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Update 2024-12-10: Update to be compatible with JetPack 6.1

‎isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/CMakeLists.txt‎

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# Install the binary file
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install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)

‎isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>gxf_isaac_ros_segment_anything</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Segmentation Anything extension.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_gxf_extensions/gxf_isaac_ros_unet/CMakeLists.txt‎

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# Install the binary file
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install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)
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‎isaac_ros_gxf_extensions/gxf_isaac_ros_unet/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>gxf_isaac_ros_unet</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Segmentation post-processor extension.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_peoplesemseg_models_install/CMakeLists.txt‎

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install(PROGRAMS asset_scripts/install_peoplesemsegnet_shuffleseg.sh DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS asset_scripts/install_peoplesemsegnet_vanilla.sh DESTINATION lib/${PROJECT_NAME})
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE)

‎isaac_ros_peoplesemseg_models_install/asset_scripts/install_peoplesemsegnet_shuffleseg.sh‎

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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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# Download and tao-convert ESS models.
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# Download and TRT-compile PeopleSemSeg-ShuffleSeg models.
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# * Models will be stored in the isaac_ros_assets dir
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# * The script must be called with the --eula argument prior to downloading.
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set -e
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ASSET_NAME="deployable_shuffleseg_unet_amr_v1.0"
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EULA_URL="https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplesemsegnet_amr"
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ASSET_NAME="optimized_deployable_shuffleseg_unet_amr_v1.0"
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EULA_URL="https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/models/optimized-peoplesemseg-amr"
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ASSET_DIR="${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/${ASSET_NAME}"
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ASSET_INSTALL_PATHS="${ASSET_DIR}/1/model.plan"
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MODEL_URL="https://api.ngc.nvidia.com/v2/models/org/nvidia/team/tao/peoplesemsegnet_amr/deployable_v1.1/files?redirect=true&path=peoplesemsegnet_amr_rel.onnx"
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MODEL_URL="https://api.ngc.nvidia.com/v2/models/org/nvidia/team/isaac/optimized-peoplesemseg-amr/v1.0/files?redirect=true&path=model.onnx"
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echo "Converting PeopleSemSegnet shuffleseg amr onnx file to plan file."
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/usr/src/tensorrt/bin/trtexec \
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--maxShapes="input_2:0":1x3x544x960 \
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--minShapes="input_2:0":1x3x544x960 \
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--optShapes="input_2:0":1x3x544x960 \
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--maxShapes="input_2":1x544x960x3 \
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--minShapes="input_2":1x544x960x3 \
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--optShapes="input_2":1x544x960x3 \
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--fp16 \
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--onnx="${ASSET_DIR}/model.onnx"
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max_batch_size: 0
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input [
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{
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name: "input_2"
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data_type: TYPE_FP32
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dims: [ 1, 3, 544, 960 ]
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dims: [ 1, 544, 960, 3 ]
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}
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]
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output [

‎isaac_ros_peoplesemseg_models_install/asset_scripts/install_peoplesemsegnet_vanilla.sh‎

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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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# Download and tao-convert ESS models.
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# Download and TRT-compile PeopleSemSeg-Vanilla models.
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# * Models will be stored in the isaac_ros_assets dir
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set -e
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ASSET_NAME="deployable_quantized_vanilla_unet_v2.0"
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ASSET_NAME="deployable_quantized_vanilla_unet_onnx_v2.0"
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EULA_URL="https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplesemsegnet"
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ASSET_DIR="${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/${ASSET_NAME}"
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ASSET_INSTALL_PATHS="${ASSET_DIR}/1/model.plan"
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MODEL_URL="https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplesemsegnet/versions/deployable_quantized_vanilla_unet_v2.0/files/peoplesemsegnet_vanilla_unet_dynamic_etlt_int8_fp16.etlt"
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MODEL_URL="https://api.ngc.nvidia.com/v2/models/org/nvidia/team/tao/peoplesemsegnet/deployable_quantized_vanilla_unet_onnx_v2.0/files?redirect=true&path=peoplesemsegnet_vanilla_unet_dynamic_etlt_int8_fp16.onnx"
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mkdir -p $(dirname "$ASSET_INSTALL_PATHS")
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wget "${MODEL_URL}" -O "${ASSET_DIR}/model.etlt"
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wget "${MODEL_URL}" -O "${ASSET_DIR}/model.onnx"
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echo "Converting PeopleSemSegnet etlt file to plan file."
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/opt/nvidia/tao/tao-converter \
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-k tlt_encode \
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-d 3,544,960 \
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-p input_1:0,1x3x544x960,1x3x544x960,1x3x544x960 \
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-t fp16 \
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-e "${ASSET_INSTALL_PATHS}" \
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-o argmax_1 \
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"${ASSET_DIR}/model.etlt"
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echo "Converting PeopleSemSegnet onnx file to plan file."
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/usr/src/tensorrt/bin/trtexec \
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--maxShapes="input_1:0":1x3x544x960 \
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--minShapes="input_1:0":1x3x544x960 \
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--optShapes="input_1:0":1x3x544x960 \
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--onnx="${ASSET_DIR}/model.onnx" \
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--saveEngine="${ASSET_DIR}/1/model.plan" \
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--fp16 \
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--skipInference
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# Create config.pbtxt
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config_file_text=$(

‎isaac_ros_peoplesemseg_models_install/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>isaac_ros_peoplesemseg_models_install</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Scripts for installing people segmentation models</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_segformer/CMakeLists.txt‎

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add_launch_test(test/isaac_ros_segformer_pol_test.py TIMEOUT "300")
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endif()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE launch)

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