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Isaac ROS 3.0.0
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‎README.md‎

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# Isaac ROS Map Localization
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Hardware-accelerated Map localization.
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NVIDIA-accelerated Map localization.
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_map_localization/occupancy_grid_localizer.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_map_localization/occupancy_grid_localizer.gif/" width="600px"/></a></div>
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@@ -69,9 +69,9 @@ 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/> |
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|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [Occupancy Grid Localizer Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_grid_localizer_node.py)<br/><br/><br/><br/> | ~50 sq. m<br/><br/><br/><br/> | [15.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-agx_orin.json)<br/><br/><br/>64 ms<br/><br/> | [7.34 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-orin_nx.json)<br/><br/><br/>140 ms<br/><br/> | [5.17 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_grid_localizer_node-orin_nano.json)<br/><br/><br/>200 ms<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/>20 ms<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 4060 Ti<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
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|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [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/> |
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---
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## Latest
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Update 2023-10-18: Updated for Isaac ROS 2.0.0.
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Update 2024-05-30: Update to be compatible with JetPack 6.0

‎isaac_ros_occupancy_grid_localizer/CMakeLists.txt‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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rclcpp_components_register_nodes(occupancy_grid_localizer "nvidia::isaac_ros::occupancy_grid_localizer::OccupancyGridLocalizerNode")
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set(node_plugins "${node_plugins}nvidia::isaac_ros::occupancy_grid_localizer::OccupancyGridLocalizerNode;\
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$<TARGET_FILE:occupancy_grid_localizer>\n")
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target_link_libraries(occupancy_grid_localizer Eigen3::Eigen)
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target_link_libraries(occupancy_grid_localizer
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Eigen3::Eigen
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)
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set_target_properties(occupancy_grid_localizer PROPERTIES
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BUILD_WITH_INSTALL_RPATH TRUE
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BUILD_RPATH_USE_ORIGIN TRUE
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INSTALL_RPATH_USE_LINK_PATH TRUE
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# The FindPythonInterp and FindPythonLibs modules are removed
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if(POLICY CMP0148)
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cmake_policy(SET CMP0148 OLD)

‎isaac_ros_occupancy_grid_localizer/config/namespace_injector_rule.yaml‎

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path_parameter_keys: [atlas, occupancy_2d_map_provider]
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- type: nvidia::isaac::TensorCopier
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path_parameter_keys: [cuda_stream]
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- type: nvidia::isaac_ros::TensorCopier
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path_parameter_keys: [cuda_stream]

‎isaac_ros_occupancy_grid_localizer/config/occupancy_grid_localizer_node.yaml‎

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components:
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- name: rx_localization_result
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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policy: 0
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- name: allocator
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type: nvidia::gxf::BlockMemoryPool
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parameters:
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min_size: 1
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- name: tx_pose3d_cov
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type: nvidia::gxf::DoubleBufferTransmitter
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parameters:
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policy: 0
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- name: localization_to_pose3d
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type: nvidia::isaac::localization::LocalizationResultToPose3d
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parameters:
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components:
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- name: rx_flatscan
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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policy: 0
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- name: message_scheduling_term
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type: nvidia::gxf::MessageAvailableSchedulingTerm
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receiver: rx_flatscan
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min_size: 1
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- name: rx_reset_signal
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type: nvidia::gxf::DoubleBufferReceiver
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parameters:
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policy: 0
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type: nvidia::gxf::MessageAvailableSchedulingTerm
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receiver: rx_reset_signal
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- name: tx_localization_result
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parameters:
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- name: grid_search_localizer
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type: nvidia::gxf::DoubleBufferReceiver
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num_blocks: 120
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- name: tensor_copier
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type: nvidia::isaac::TensorCopier
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type: nvidia::isaac_ros::TensorCopier
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- type: nvidia::gxf::GreedyScheduler
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- type: nvidia::gxf::EventBasedScheduler
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parameters:
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clock: clock
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stop_on_deadlock: false
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check_recession_period_us: 100
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worker_thread_number: 2
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- type: nvidia::gxf::JobStatistics
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‎isaac_ros_occupancy_grid_localizer/include/isaac_ros_occupancy_grid_localizer/occupancy_grid_localizer_node.hpp‎

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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void LocResultNitrosSubCallback(const gxf_context_t, nitros::NitrosTypeBase &);
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std::optional<std::shared_ptr<isaac_ros_pointcloud_interfaces::msg::FlatScan>> last_flat_scan_;
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} // namespace occupancy_grid_localizer

‎isaac_ros_occupancy_grid_localizer/launch/isaac_ros_occupancy_grid_localizer.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.

‎isaac_ros_occupancy_grid_localizer/launch/isaac_ros_occupancy_grid_localizer_nav2.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.

‎isaac_ros_occupancy_grid_localizer/launch/isaac_ros_occupancy_grid_localizer_quickstart.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.

‎isaac_ros_occupancy_grid_localizer/package.xml‎

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<?xml version="1.0"?>
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<!--
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SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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SPDX-FileCopyrightText: Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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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_occupancy_grid_localizer</name>
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<version>2.1.0</version>
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<version>3.0.0</version>
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<description>Occupancy Grid Global Localizer.</description>
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<maintainer email="ashwinvk@nvidia.com">Ashwin Varghese Kuruttukulam</maintainer>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
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<license>Apache-2.0</license>
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<url type="website">https://developer.nvidia.com/isaac-ros/</url>
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<author>Ashwin Varghese Kuruttukulam</author>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>tf2_ros</depend>
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<depend>isaac_ros_pointcloud_interfaces</depend>
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<depend>isaac_ros_pointcloud_interfaces</depend>
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<depend>isaac_ros_gxf</depend>
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<depend>isaac_ros_nitros</depend>
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<depend>isaac_ros_nitros_pose_cov_stamped_type</depend>
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<depend>isaac_ros_nitros_flat_scan_type</depend>
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<depend>isaac_ros_pointcloud_utils</depend>
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<depend>gxf_isaac_utils</depend>
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<build_depend>gxf_isaac_gems</build_depend>
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<exec_depend>gxf_isaac_cuda</exec_depend>
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<exec_depend>gxf_isaac_flatscan_localization</exec_depend>
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<exec_depend>gxf_isaac_localization</exec_depend>
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<exec_depend>gxf_isaac_ros_cuda</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>

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