Skip to content

Commit 8d2a14f

Browse files
jaiveersinghNVjaiveersinghNV
committed
Isaac ROS 4.0
1 parent 9d749e8 commit 8d2a14f

File tree

659 files changed

+4123
-5732
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

659 files changed

+4123
-5732
lines changed

‎README.md‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22

33
NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages.
44

5-
<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_nitros/image5-1.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nitros/image5-1.gif/" width="600px"/></a></div>
5+
<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nitros/image5-1.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nitros/image5-1.gif/" width="600px"/></a></div>
66

77
## Overview
88

@@ -22,6 +22,9 @@ Isaac ROS NITROS is composed of a number of individual packages, each with eithe
2222
`isaac_ros_nitros`:
2323
: This package contains the base `NitrosNode` class and associated core utilities that serve as the foundation for all NITROS-based ROS nodes.
2424

25+
`isaac_ros_nitros_bridge`:
26+
: This folder contains the implementation of the NITROS Bridge for inter-process communication.
27+
2528
`isaac_ros_nitros_interfaces`:
2629
: This package contains the definitions of the custom ROS 2 interfaces that facilitate type negotiation between NITROS nodes.
2730

@@ -56,11 +59,8 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
5659
* [Try Another Example](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#try-another-example)
5760
* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#troubleshooting)
5861
* [Updates](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#updates)
59-
* [`isaac_ros_nitros_bridge_ros1`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros1/index.html)
60-
* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros1/index.html#api)
6162
* [`isaac_ros_nitros_bridge_ros2`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros2/index.html)
6263
* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros2/index.html#api)
63-
* [`isaac_ros_nitros_interfaces`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_interfaces/index.html)
6464
* [`isaac_ros_nitros_topic_tools`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_topic_tools/index.html)
6565
* [NitrosCameraDrop Node](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_topic_tools/index.html#nitroscameradrop-node)
6666
* [`isaac_ros_nitros_type`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_type/index.html)
@@ -72,4 +72,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
7272

7373
## Latest
7474

75-
Update 2024-12-10: Update to be compatible with JetPack 6.1
75+
Update 2025-10-24: Add support for CUDA streams in type adaptation

‎SECURITY.md‎

Lines changed: 24 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,24 @@
1+
## Security
2+
3+
NVIDIA is dedicated to the security and trust of our software products and services, including all source code repositories managed through our organization.
4+
5+
If you need to report a security issue, please use the appropriate contact points outlined below. **Please do not report security vulnerabilities through GitHub.**
6+
7+
## Reporting Potential Security Vulnerability in an NVIDIA Product
8+
9+
To report a potential security vulnerability in any NVIDIA product:
10+
- Web: [Security Vulnerability Submission Form](https://www.nvidia.com/object/submit-security-vulnerability.html)
11+
- E-Mail: [email protected]
12+
- We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
13+
- Please include the following information:
14+
- Product/Driver name and version/branch that contains the vulnerability
15+
- Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
16+
- Instructions to reproduce the vulnerability
17+
- Proof-of-concept or exploit code
18+
- Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
19+
20+
While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/) policies page for more information.
21+
22+
## NVIDIA Product Security
23+
24+
For all security-related concerns, please visit NVIDIA's Product Security portal at https://www.nvidia.com/en-us/security

‎isaac_ros_gxf/CMakeLists.txt‎

Lines changed: 21 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
# Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
# Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
#
44
# Licensed under the Apache License, Version 2.0 (the "License");
55
# you may not use this file except in compliance with the License.
@@ -18,6 +18,9 @@
1818
cmake_minimum_required(VERSION 3.22.1)
1919
project(isaac_ros_gxf)
2020

21+
# Add option for overriding GXF core library directory
22+
option(GXF_CORE_LIB_DIR_OVERRIDE "Override path for GXF core library directory" "")
23+
2124
execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
2225
message( STATUS "Architecture: ${ARCHITECTURE}" )
2326

@@ -34,17 +37,24 @@ install(
3437

3538
# Install extensions directory
3639
if( ${ARCHITECTURE} STREQUAL "x86_64" )
37-
install(DIRECTORY gxf/core/lib/gxf_x86_64_cuda_12_6/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
38-
install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/core/libgxf_core.so DESTINATION lib)
39-
install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/logger/libgxf_logger.so DESTINATION lib)
40-
install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/multimedia/libgxf_multimedia.so DESTINATION lib)
41-
install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/cuda/libgxf_cuda.so DESTINATION lib)
40+
install(DIRECTORY gxf/core/lib/gxf_x86_64_cuda_13_0/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
41+
install(FILES gxf/core/lib/gxf_x86_64_cuda_13_0/core/libgxf_core.so DESTINATION lib)
42+
install(FILES gxf/core/lib/gxf_x86_64_cuda_13_0/logger/libgxf_logger.so DESTINATION lib)
43+
install(FILES gxf/core/lib/gxf_x86_64_cuda_13_0/multimedia/libgxf_multimedia.so DESTINATION lib)
44+
install(FILES gxf/core/lib/gxf_x86_64_cuda_13_0/cuda/libgxf_cuda.so DESTINATION lib)
4245
elseif( ${ARCHITECTURE} STREQUAL "aarch64" )
43-
install(DIRECTORY gxf/core/lib/gxf_jetpack61/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
44-
install(FILES gxf/core/lib/gxf_jetpack61/core/libgxf_core.so DESTINATION lib)
45-
install(FILES gxf/core/lib/gxf_jetpack61/logger/libgxf_logger.so DESTINATION lib)
46-
install(FILES gxf/core/lib/gxf_jetpack61/multimedia/libgxf_multimedia.so DESTINATION lib)
47-
install(FILES gxf/core/lib/gxf_jetpack61/cuda/libgxf_cuda.so DESTINATION lib)
46+
if(CMAKE_DEVICE STREQUAL "sbsa")
47+
set(GXF_CORE_LIB_DIR gxf/core/lib/gxf_aarch64_cuda_13_0/)
48+
elseif(CMAKE_DEVICE STREQUAL "arm64")
49+
set(GXF_CORE_LIB_DIR gxf/core/lib/gxf_jetpack70/)
50+
else()
51+
message(FATAL_ERROR "Device is not supported.")
52+
endif()
53+
install(DIRECTORY ${GXF_CORE_LIB_DIR} DESTINATION share/${PROJECT_NAME}/gxf/lib)
54+
install(FILES ${GXF_CORE_LIB_DIR}/core/libgxf_core.so DESTINATION lib)
55+
install(FILES ${GXF_CORE_LIB_DIR}/logger/libgxf_logger.so DESTINATION lib)
56+
install(FILES ${GXF_CORE_LIB_DIR}/multimedia/libgxf_multimedia.so DESTINATION lib)
57+
install(FILES ${GXF_CORE_LIB_DIR}/cuda/libgxf_cuda.so DESTINATION lib)
4858
endif()
4959

5060
# Register cmake in install.

‎isaac_ros_gxf/gxf/core/include/common/assert.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

‎isaac_ros_gxf/gxf/core/include/common/backtrace.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

‎isaac_ros_gxf/gxf/core/include/common/byte.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

‎isaac_ros_gxf/gxf/core/include/common/endian.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

‎isaac_ros_gxf/gxf/core/include/common/expected.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

‎isaac_ros_gxf/gxf/core/include/common/fixed_map.hpp‎

Lines changed: 15 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2023-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.
@@ -63,11 +63,16 @@ class FixedMap {
6363
using Expected = Expected<U, Error>;
6464

6565
template <typename TContainer, typename TValue>
66-
class Iterator : public std::iterator<std::bidirectional_iterator_tag, TValue> {
66+
class Iterator {
6767
public:
6868
static_assert(IsSame_v<RemoveConst_t<TContainer>, FixedMap>);
6969

70-
using typename std::iterator<std::bidirectional_iterator_tag, TValue>::difference_type;
70+
// iterator traits
71+
using iterator_category = std::bidirectional_iterator_tag;
72+
using value_type = TValue;
73+
using difference_type = std::ptrdiff_t;
74+
using pointer = TValue*;
75+
using reference = TValue&;
7176

7277
constexpr Iterator() : container_{nullptr}, index_{-1} {}
7378
constexpr Iterator(TContainer& container, size_t start) : container_{&container}, index_{0} {
@@ -188,13 +193,17 @@ class FixedMap {
188193
};
189194

190195
template <typename TIterator>
191-
class ReverseIterator
192-
: public std::iterator<std::bidirectional_iterator_tag, typename TIterator::value_type> {
196+
class ReverseIterator {
193197
public:
194198
static_assert(IsSame_v<TIterator, iterator> || IsSame_v<TIterator, const_iterator>);
195199

196-
using difference_type = typename TIterator::difference_type;
197200
using TValue = typename TIterator::value_type;
201+
// iterator traits
202+
using iterator_category = std::bidirectional_iterator_tag;
203+
using value_type = TValue;
204+
using difference_type = std::ptrdiff_t;
205+
using pointer = TValue*;
206+
using reference = TValue&;
198207

199208
constexpr explicit ReverseIterator() : iter_{} {}
200209
constexpr explicit ReverseIterator(TIterator iter) : iter_{iter} {}

‎isaac_ros_gxf/gxf/core/include/common/fixed_string.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
2-
// Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2+
// Copyright (c) 2021-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
33
//
44
// Licensed under the Apache License, Version 2.0 (the "License");
55
// you may not use this file except in compliance with the License.

0 commit comments

Comments
 (0)