Merge pull request #21 from NVIDIA-ISAAC-ROS/release-2.0.0

Isaac ROS 2.0.0

Author: jaiveersinghNV

README.md

@@ -15,7 +15,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.23.2)
+cmake_minimum_required(VERSION 3.22.1)
 project(isaac_ros_occupancy_grid_localizer LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -39,6 +39,12 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+
+  # The FindPythonInterp and FindPythonLibs modules are removed
+  if(POLICY CMP0148)
+    cmake_policy(SET CMP0148 OLD)
+  endif()
+
   find_package(launch_testing_ament_cmake REQUIRED)
   add_launch_test(test/isaac_ros_occupancy_grid_localizer_pol_test.py)
 endif()

docs/isaac-sim-nav2-tutorial.md

@@ -49,9 +49,10 @@ components:
   parameters:
     cell_size: 0.05 # Will be overidden with ROS parameter 'resolution'
     threshold: 200 # Will be overidden with ROS parameter 'occupancy_grid_map_threshold'
-    binary_occupancy_map_tensor: binary_occupancy_map
+    occupancy_map_image: binary_occupancy_map
     map_frame: global_pose_tree/map_frame
     device_allocator: device_allocator
+    allocator: host_allocator
 - type: nvidia::gxf::CountSchedulingTerm
   parameters:
     count: 1
@@ -104,7 +105,7 @@ components:
     parameters:
       policy: 0
   - name: localization_to_pose3d
-    type: nvidia::isaac::localization::LocalizationToPose3d
+    type: nvidia::isaac::localization::LocalizationResultToPose3d
     parameters:
       rx_localization_result: rx_localization_result
       tx_pose3d_cov: tx_pose3d_cov
@@ -196,6 +197,9 @@ name: flatscan_beams_tensor_copier
 components:
 - name: rx_flatscan
   type: nvidia::gxf::DoubleBufferReceiver
+  parameters:
+    capacity: 1
+    policy: 0
 - name: tx_flatscan
   type: nvidia::gxf::DoubleBufferTransmitter
 - type: nvidia::gxf::DownstreamReceptiveSchedulingTerm

isaac_ros_occupancy_grid_localizer/CMakeLists.txt

@@ -108,19 +108,9 @@ def generate_launch_description():
         package='tf2_ros', executable='static_transform_publisher',
         parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
         output='screen',
-        arguments=['0.0', '0.0', '-0.3', '0.0', '0.0', '0.0', 'base_link',
-                   'base_footprint'],
+        arguments=['0.0', '0.0', '0', '0.0', '0.0', '0.0', 'base_link', 'base_footprint'],
         condition=IfCondition(LaunchConfiguration('run_nav2')))
 
-    # Seting transform between lidar_frame and base_link
-    # since Isaac Sim does not set this transform
-    baselink_lidar_publisher = Node(
-        package='tf2_ros', executable='static_transform_publisher',
-        parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
-        output='screen',
-        arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'base_link',
-                   'lidar_frame'])
-
     return LaunchDescription([
         map_file_arg,
         params_file_arg,
@@ -130,6 +120,5 @@ def generate_launch_description():
         rviz_launch,
         nav2_launch,
         baselink_basefootprint_publisher,
-        baselink_lidar_publisher,
         occupancy_grid_localizer_container
     ])

isaac_ros_occupancy_grid_localizer/config/occupancy_grid_localizer_node.yaml

@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_occupancy_grid_localizer</name>
-  <version>0.31.0</version>
+  <version>2.0.0</version>
   <description>Occupancy Grid Global Localizer.</description>
 
   <maintainer email="[email protected]">Ashwin Varghese Kuruttukulam</maintainer>
@@ -39,6 +39,7 @@
   <depend>isaac_ros_nitros</depend>
   <depend>isaac_ros_nitros_pose_cov_stamped_type</depend>
   <depend>isaac_ros_nitros_flat_scan_type</depend>
+  <depend>isaac_ros_pointcloud_utils</depend>
 
   <build_depend>isaac_ros_common</build_depend>
 

isaac_ros_occupancy_grid_localizer/launch/isaac_ros_occupancy_grid_localizer_nav2.launch.py

@@ -324,14 +324,14 @@ void OccupancyGridLocalizerNode::FlatScanNitrosSubCallback(
   // and FlatScan frame_id
   pose_tree_handle->set(
     robot_frame_uid, pose_frame_uid->uid, 0.0,
-    ::isaac::Pose3d{
-          ::isaac::SO3d::FromQuaternion(
-            ::isaac::Quaterniond{
+    ::nvidia::isaac::Pose3d{
+          ::nvidia::isaac::SO3d::FromQuaternion(
+            ::nvidia::isaac::Quaterniond{
             baselink_to_lidar_transform.transform.rotation.w,
             baselink_to_lidar_transform.transform.rotation.x,
             baselink_to_lidar_transform.transform.rotation.y,
             baselink_to_lidar_transform.transform.rotation.z}),
-          ::isaac::Vector3d(
+          ::nvidia::isaac::Vector3d(
             baselink_to_lidar_transform.transform.translation.x,
             baselink_to_lidar_transform.transform.translation.y,
             baselink_to_lidar_transform.transform.translation.z)}
@@ -346,7 +346,7 @@ void OccupancyGridLocalizerNode::LocResultNitrosSubCallback(
 {
   auto msg_entity = nvidia::gxf::Entity::Shared(context, msg.handle);
   // Get pose
-  auto maybe_pose = msg_entity->get<::isaac::Pose3d>(kPoseName);
+  auto maybe_pose = msg_entity->get<::nvidia::isaac::Pose3d>(kPoseName);
   if (!maybe_pose) {
     std::stringstream error_msg;
     error_msg <<
@@ -364,15 +364,15 @@ void OccupancyGridLocalizerNode::LocResultNitrosSubCallback(
   // with the X-axis in pointing down and the Y-axis pointing to the right.
   // Hence the transformation matrix from the Isaac map frame to the
   // ROS map frame is as shown below
-  auto ros_pose_isaac_transform = ::isaac::Pose3d{
-    ::isaac::SO3d::FromQuaternion(
-      ::isaac::Quaterniond{0.7071068, 0.0, 0.0, -0.7071068}),
-    ::isaac::Vector3d(0.0, map_png_height_ * cell_size_, 0.0)
+  auto ros_pose_isaac_transform = ::nvidia::isaac::Pose3d{
+    ::nvidia::isaac::SO3d::FromQuaternion(
+      ::nvidia::isaac::Quaterniond{0.7071068, 0.0, 0.0, -0.7071068}),
+    ::nvidia::isaac::Vector3d(0.0, map_png_height_ * cell_size_, 0.0)
   };
 
   auto ros_map_origin_transform =
-    ::isaac::Pose3d::FromPose2XY(
-    {::isaac::SO2d::FromAngle(
+    ::nvidia::isaac::Pose3d::FromPose2XY(
+    {::nvidia::isaac::SO2d::FromAngle(
         map_origin_[2]), {map_origin_[0], map_origin_[1]}});
 
   // The ros_pose_isaac_transform transformation matrix is

isaac_ros_occupancy_grid_localizer/package.xml

@@ -117,6 +117,8 @@ def test_occupancy_grid_localizer_pipeline(self) -> None:
             self.assertTrue(
                 done, "Didn't receive output on localization_result topic!")
 
+            self.node._logger.info('At least one message was received.')
+
             loc_result_actual = received_messages['localization_result'][0]
             self.assertAlmostEqual(loc_result_actual.pose.pose.position.x,
                                    33.5, None,
@@ -152,6 +154,8 @@ def test_occupancy_grid_localizer_pipeline(self) -> None:
                                        'received covariance is not within tolerance',
                                        TEST_COV_TOLERANCE)
 
+            self.node._logger.info('Received message was verified successfully.')
+
         finally:
             pass
             self.assertTrue(self.node.destroy_subscription(

isaac_ros_occupancy_grid_localizer/src/occupancy_grid_localizer_node.cpp

@@ -49,8 +49,16 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+
+  # The FindPythonInterp and FindPythonLibs modules are removed
+  if(POLICY CMP0148)
+    cmake_policy(SET CMP0148 OLD)
+  endif()
+
   find_package(launch_testing_ament_cmake REQUIRED)
   add_launch_test(test/isaac_ros_pointcloud_to_flatscan_pol_test.py)
+  add_launch_test(test/isaac_ros_laserscan_to_flatscan_pol_test.py)
+  add_launch_test(test/isaac_ros_flatscan_to_laserscan_pol_test.py)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE config launch)

isaac_ros_occupancy_grid_localizer/test/isaac_ros_occupancy_grid_localizer_pol_test.py

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb847874ff8e7385fb4248d1a6db97cb0d99b6c04addfc2dafed7ec26a94cfba
+size 884736