Merge pull request #24 from NVIDIA-ISAAC-ROS/release-2.1

Isaac ROS 2.1.0

Author: hemalshahNV

isaac_ros_occupancy_grid_localizer/config/occupancy_grid_localizer_node.yaml

@@ -110,6 +110,10 @@ components:
       rx_localization_result: rx_localization_result
       tx_pose3d_cov: tx_pose3d_cov
       allocator: allocator
+  - type: nvidia::gxf::MemoryAvailableSchedulingTerm
+    parameters:
+      allocator: allocator
+      min_blocks: 1
 ---
 #######################
 # Global Localization #
@@ -226,6 +230,10 @@ components:
     tx_memory_type: 0
     allocator: allocator
     cuda_stream: cuda_stream/cuda_stream
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: allocator
+    min_blocks: 1
 ---
 name: sink
 components:

isaac_ros_occupancy_grid_localizer/package.xml

@@ -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>2.0.0</version>
+  <version>2.1.0</version>
   <description>Occupancy Grid Global Localizer.</description>
 
   <maintainer email="[email protected]">Ashwin Varghese Kuruttukulam</maintainer>

isaac_ros_pointcloud_utils/package.xml

@@ -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_pointcloud_utils</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Isaac ROS Point Cloud Utilities.</description>
 
   <maintainer email="[email protected]">Ashwin Varghese Kuruttukulam</maintainer>

isaac_ros_pointcloud_utils/src/pointcloud_to_flatscan_node.cpp

@@ -87,6 +87,7 @@ const nitros::NitrosPublisherSubscriberConfigMap CONFIG_MAP = {
       .qos = rclcpp::QoS(10),
       .compatible_data_format = OUTPUT_DEFAULT_TENSOR_FORMAT_FLATSCAN,
       .topic_name = OUTPUT_TOPIC_NAME_FLATSCAN,
+      .frame_id_source_key = INPUT_COMPONENT_KEY_POINTCLOUD,
     }
   }
 };
@@ -108,8 +109,8 @@ PointCloudToFlatScanNode::PointCloudToFlatScanNode(const rclcpp::NodeOptions & o
   min_z_(declare_parameter<double>("min_z", -0.1)),
   max_z_(declare_parameter<double>("max_z", 0.1)),
   max_points_(declare_parameter<double>("max_points", 150000)),
-  threshold_x_axis_(declare_parameter<double>("threshold_x_axis", false)),
-  threshold_y_axis_(declare_parameter<double>("threshold_y_axis", false))
+  threshold_x_axis_(declare_parameter<bool>("threshold_x_axis", false)),
+  threshold_y_axis_(declare_parameter<bool>("threshold_y_axis", false))
 {
   RCLCPP_DEBUG(get_logger(), "[PointCloudToFlatScanNode] Constructor");