Isaac ROS 3.2

jaiveersinghNV · jaiveersinghNV · commit 750694f01126 · 2024-12-10T17:46:00.000-08:00
diff --git a/README.md b/README.md
@@ -69,9 +69,9 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 ## Performance
 
-| 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/>                                                                                                                                           |
-|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [Occupancy Grid Localizer Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_occupancy_grid_localizer_benchmark/scripts/isaac_ros_grid_localizer_node.py)<br/><br/><br/><br/> | ~50 sq. m<br/><br/><br/><br/> | [19.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-agx_orin.json)<br/><br/><br/>57 ms @ 30Hz<br/><br/> | [8.34 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-orin_nx.json)<br/><br/><br/>130 ms @ 30Hz<br/><br/> | [5.75 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-orin_nano.json)<br/><br/><br/>190 ms @ 30Hz<br/><br/> | [50.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-nuc_4060ti.json)<br/><br/><br/>21 ms @ 30Hz<br/><br/> | [50.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-x86_4090.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> |
+| 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/>                                                                                                                                            |
+|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [Occupancy Grid Localizer Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_occupancy_grid_localizer_benchmark/scripts/isaac_ros_grid_localizer_node.py)<br/><br/><br/><br/> | ~50 sq. m<br/><br/><br/><br/> | [12.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-agx_orin.json)<br/><br/><br/>86 ms @ 30Hz<br/><br/> | [8.36 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-orin_nx.json)<br/><br/><br/>130 ms @ 30Hz<br/><br/> | [5.81 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-orin_nano.json)<br/><br/><br/>190 ms @ 30Hz<br/><br/> | [50.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-x86-4090.json)<br/><br/><br/>8.8 ms @ 30Hz<br/><br/> |
 
 ---
 
@@ -94,4 +94,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-09-26: Update for Isaac ROS 3.1
+Update 2024-12-10: Update to be compatible with JetPack 6.1
diff --git a/isaac_ros_occupancy_grid_localizer/CMakeLists.txt b/isaac_ros_occupancy_grid_localizer/CMakeLists.txt
@@ -55,4 +55,10 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_occupancy_grid_localizer_pol_test.py)
 endif()
 
+
+# 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(INSTALL_TO_SHARE config launch maps params rviz)
diff --git a/isaac_ros_occupancy_grid_localizer/package.xml b/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>3.1.0</version>
+  <version>3.2.0</version>
   <description>Occupancy Grid Global Localizer.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/isaac_ros_pointcloud_utils/CMakeLists.txt b/isaac_ros_pointcloud_utils/CMakeLists.txt
@@ -76,4 +76,10 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_flatscan_to_laserscan_pol_test.py)
 endif()
 
+
+# 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(INSTALL_TO_SHARE config launch)
diff --git a/isaac_ros_pointcloud_utils/package.xml b/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>3.1.0</version>
+  <version>3.2.0</version>
   <description>Isaac ROS Point Cloud Utilities.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
