Merge pull request #7 from NVIDIA-ISAAC-ROS/release-3.2

Isaac ROS 3.2

Author: jaiveersinghNV

README.md

@@ -59,4 +59,4 @@ See [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/repositories_an
 
 ## Latest
 
-Update 2024-09-26: Update for Isaac ROS 3.1
+Update 2024-12-10: Update to be compatible with JetPack 6.1

isaac_ros_jetson_stats/isaac_ros_jetson_stats/ros2_jtop_node.py

@@ -117,17 +117,41 @@ def jetson_clocks_service(self, req, resp):
         return resp
 
     def nvpmodel_service(self, req, resp):
+        def loop_condition(condition, timeout_s=10):
+            timeout_ns = timeout_s * 10e9
+            start_time = self.get_clock().now().nanoseconds
+            time_delta_ns = 0
+            while condition():
+                if time_delta_ns > timeout_ns:
+                    return False
+                time_delta_ns = self.get_clock().now().nanoseconds - start_time
+            return True
+
         # Set new nvpmodel
         if self.jetson.nvpmodel is not None:
             nvpmodel = req.nvpmodel
             try:
                 self.jetson.nvpmodel = nvpmodel
-                power_mode = str(self.jetson.nvpmodel)
-                self.get_logger().info(
-                    f'New NVPModel status:{nvpmodel} {power_mode}')
-            except jtop.JtopException:
-                nvpmodel = self.jetson.nvpmodel
-                self.get_logger().error('Fail to set new NVPModel status')
+                if not loop_condition(self.jetson.nvpmodel.is_running):
+                    power_mode = 'Timeout'
+                    self.get_logger().error('Timeout waiting for NVPModel command')
+                elif self.jetson.nvpmodel.status[nvpmodel]:
+                    expected_model = self.jetson.nvpmodel.models[nvpmodel]
+                    if not loop_condition(lambda: expected_model != self.jetson.nvpmodel.name):
+                        power_mode = 'Timeout'
+                        self.get_logger().error('Timeout waiting for NVPModel to reflect change')
+                    else:
+                        power_mode = str(self.jetson.nvpmodel)
+                        self.get_logger().info(
+                            f'New NVPModel status:{nvpmodel} {power_mode}')
+                else:
+                    power_mode = 'Exception'
+                    self.get_logger().error('New NVPModel cannot be set using `jtop`. Use ' +
+                                            f'`nvpmodel -m {nvpmodel}` to see the issue in ' +
+                                            'terminal.')
+            except jtop.JtopException as e:
+                power_mode = 'Exception'
+                self.get_logger().error(f'Failed to set new NVPModel status. Exception: {e}')
             resp.power_mode = power_mode
         else:
             resp.power_mode = 'Not available'

isaac_ros_jetson_stats/package.xml

@@ -24,13 +24,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_jetson_stats</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Isaac ROS Jetson. Set of packages to control your jetson from your board</description>
   <author email="[email protected]">Raffaello Bonghi</author>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>MIT</license>
 
   <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>isaac_ros_common</build_depend>
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>

isaac_ros_jetson_stats/setup.py

@@ -20,10 +20,31 @@
 # DEALINGS IN THE SOFTWARE.
 
 from glob import glob
+import importlib.util
 from os import path
+from pathlib import Path
+import sys
 
+from ament_index_python.packages import get_resource
 from setuptools import setup
 
+ISAAC_ROS_COMMON_PATH = get_resource(
+    'isaac_ros_common_scripts_path',
+    'isaac_ros_common'
+)[0]
+
+ISAAC_ROS_COMMON_VERSION_INFO = Path(ISAAC_ROS_COMMON_PATH) / 'isaac_ros_common-version-info.py'
+
+spec = importlib.util.spec_from_file_location(
+    'isaac_ros_common_version_info',
+    ISAAC_ROS_COMMON_VERSION_INFO
+)
+
+isaac_ros_common_version_info = importlib.util.module_from_spec(spec)
+sys.modules['isaac_ros_common_version_info'] = isaac_ros_common_version_info
+spec.loader.exec_module(isaac_ros_common_version_info)
+
+from isaac_ros_common_version_info import GenerateVersionInfoCommand  # noqa: E402, I100
 
 package_name = 'isaac_ros_jetson_stats'
 
@@ -50,5 +71,8 @@
                 'jtop = isaac_ros_jetson_stats.ros2_jtop_node:main',
         ],
     },
+    cmdclass={
+        'build_py': GenerateVersionInfoCommand,
+    },
 )
 # EOF

isaac_ros_jetson_stats_services/CMakeLists.txt

@@ -33,4 +33,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	"srv/NVPModel.srv"
  )
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package()

isaac_ros_jetson_stats_services/package.xml

@@ -24,14 +24,15 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_jetson_stats_services</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Interfaces for Isaac ROS Jetson</description>
   <author email="[email protected]">Raffaello Bonghi</author>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>isaac_ros_common</build_depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>