Merge pull request #50 from NVIDIA-ISAAC-ROS/release-3.2

Isaac ROS 3.2

Author: jaiveersinghNV

README.md

@@ -31,6 +31,9 @@ Isaac ROS NITROS is composed of a number of individual packages, each with eithe
 `isaac_ros_nitros_type`:
 : This folder contains a number of packages, each defining a specific NITROS type and the associated type adaptation logic to convert to and from a standard ROS type.
 
+`isaac_ros_pynitros`:
+: This folder contains the implementation of Python NITROS.
+
 ---
 
 ## Documentation
@@ -45,11 +48,28 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 * [`isaac_ros_managed_nitros`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_managed_nitros/index.html)
 * [`isaac_ros_nitros`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros/index.html)
   * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros/index.html#quickstart)
+* [Isaac ROS NITROS Bridge](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html)
+  * [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#overview)
+  * [Performance](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#performance)
+  * [Packages](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#packages)
+  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#quickstart)
+  * [Try Another Example](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#try-another-example)
+  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#troubleshooting)
+  * [Updates](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#updates)
+* [`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)
+  * [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)
+* [`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)
+  * [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)
 * [`isaac_ros_nitros_interfaces`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_interfaces/index.html)
 * [`isaac_ros_nitros_topic_tools`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_topic_tools/index.html)
   * [NitrosCameraDrop Node](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_topic_tools/index.html#nitroscameradrop-node)
 * [`isaac_ros_nitros_type`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_type/index.html)
+* [`isaac_ros_pynitros`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_pynitros/index.html)
+  * [Creating PyNITROS-Accelerated Nodes](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_pynitros/index.html#creating-pynitros-accelerated-nodes)
+  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_pynitros/index.html#quickstart)
+  * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_pynitros/index.html#try-more-examples)
+  * [API Reference](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_pynitros/index.html#api-reference)
 
 ## Latest
 
-Update 2024-09-26: Update for Isaac ROS 3.1
+Update 2024-12-10: Update to be compatible with JetPack 6.1

isaac_ros_gxf/CMakeLists.txt

@@ -34,17 +34,17 @@ install(
 
 # Install extensions directory
 if( ${ARCHITECTURE} STREQUAL "x86_64" )
-  install(DIRECTORY gxf/core/lib/gxf_x86_64_cuda_12_2/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
-  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_2/core/libgxf_core.so DESTINATION lib)
-  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_2/logger/libgxf_logger.so DESTINATION lib)
-  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_2/multimedia/libgxf_multimedia.so DESTINATION lib)
-  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_2/cuda/libgxf_cuda.so DESTINATION lib)
+  install(DIRECTORY gxf/core/lib/gxf_x86_64_cuda_12_6/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
+  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/core/libgxf_core.so DESTINATION lib)
+  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/logger/libgxf_logger.so DESTINATION lib)
+  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/multimedia/libgxf_multimedia.so DESTINATION lib)
+  install(FILES gxf/core/lib/gxf_x86_64_cuda_12_6/cuda/libgxf_cuda.so DESTINATION lib)
 elseif( ${ARCHITECTURE} STREQUAL "aarch64" )
-  install(DIRECTORY gxf/core/lib/gxf_jetpack60/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
-  install(FILES gxf/core/lib/gxf_jetpack60/core/libgxf_core.so DESTINATION lib)
-  install(FILES gxf/core/lib/gxf_jetpack60/logger/libgxf_logger.so DESTINATION lib)
-  install(FILES gxf/core/lib/gxf_jetpack60/multimedia/libgxf_multimedia.so DESTINATION lib)
-  install(FILES gxf/core/lib/gxf_jetpack60/cuda/libgxf_cuda.so DESTINATION lib)
+  install(DIRECTORY gxf/core/lib/gxf_jetpack61/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
+  install(FILES gxf/core/lib/gxf_jetpack61/core/libgxf_core.so DESTINATION lib)
+  install(FILES gxf/core/lib/gxf_jetpack61/logger/libgxf_logger.so DESTINATION lib)
+  install(FILES gxf/core/lib/gxf_jetpack61/multimedia/libgxf_multimedia.so DESTINATION lib)
+  install(FILES gxf/core/lib/gxf_jetpack61/cuda/libgxf_cuda.so DESTINATION lib)
 endif()
 
 # Register cmake in install.
@@ -124,4 +124,10 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 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 cmake)

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

@@ -126,4 +126,15 @@
                std::to_string(_vb).c_str());                                                       \
   }
 
+// Asserts that abs(A - B) <= abs_error. If not prints a panic message and aborts the program.
+#define GXF_ASSERT_NEAR(exp_a, exp_b, exp_abs_error)                                               \
+  {                                                                                                \
+    const auto _va = exp_a;                                                                        \
+    const auto _vb = exp_b;                                                                        \
+    const auto _verror = exp_abs_error;                                                            \
+    GXF_ASSERT(std::abs(_va - _vb) <= _verror, "Assert failed: abs(%s - %s) <= %s.",               \
+               std::to_string(_va).c_str(), std::to_string(_vb).c_str(),                           \
+               std::to_string(_verror).c_str());                                                   \
+  }
+
 #endif  // NVIDIA_COMMON_ASSERT_HPP_

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

@@ -57,6 +57,7 @@ class FixedVectorBase {
     kArgumentOutOfRange,  // Argument is out of valid range
     kContainerEmpty,      // Container is empty
     kContainerFull,       // Container is fixed and reached max capacity
+    kInvalidIterator,     // Iterator is invalid
   };
 
   // Expected type which uses class specific errors
@@ -187,6 +188,27 @@ class FixedVectorBase {
   constexpr Expected<void> insert(size_t index, T&& obj) {
     return emplace(index, std::forward<T>(obj));
   }
+
+  // Insert elements from another fixed vector object to the specified index
+  constexpr Expected<void> insert(iterator index, iterator start, iterator end) {
+        size_t count = static_cast<size_t>(std::distance(start, end));
+        size_t pos = static_cast<size_t>(std::distance(begin(), index));
+        if ((pos > size_) || (pos + count > capacity_) || (count < 0)) {
+            return Unexpected<Error>{Error::kArgumentOutOfRange};
+        }
+
+        auto maybe_value = *start;
+        if (maybe_value) {
+          T* ptr = &(*maybe_value);
+          ArrayCopyConstruct(BytePointer(data_ + pos), ptr, count);
+          size_ += count;
+        } else {
+          return Unexpected<Error>{Error::kInvalidIterator};
+        }
+
+        return kSuccess;
+  }
+
   // Copies the object to the end of the vector
   constexpr Expected<void> push_back(const T& obj) { return emplace_back(obj); }
   // Moves the object to the end of the vector

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

@@ -20,7 +20,10 @@
 #include <cstdint>
 
 #if defined(__clang__)
-// Not yet implemented
+inline char* TypenameAsStringImpl(const char* begin, char* output, int32_t max_length) {
+  // Return nullptr since this is not implemented
+  return nullptr;
+}
 #elif defined(__GNUC__)
 #include "type_name_gnuc.hpp"
 #elif defined(_MSC_VER)

isaac_ros_gxf/gxf/core/include/gxf/app/application.hpp

@@ -162,28 +162,28 @@ class Application : public Segment {
    * each segment is launched asynchronously and this thread is blocked until each one of
    * the segments have finished execution. If the graph contains multiple entities,
    * then this thread is blocked until the graph execution is complete.
-   * @return gxf_result_t On success the function returns GXF_SUCCESS.
+   * @return Expected<void> Success or error code
    */
   Expected<void> run();
 
   /**
    * @brief A non blocking api call to run an application. If the application contains multiple
    * segments, each segment is launched asynchronously.
-   * @return gxf_result_t On success the function returns GXF_SUCCESS.
+   * @return Expected<void> Success or error code
    */
   Expected<void> runAsync();
 
   /**
    * @brief A non blocking api to stop all running running segments or entities.
    *
-   * @return gxf_result_t On success the function returns GXF_SUCCESS.
+   * @return Expected<void> Success or error code
    */
   Expected<void> interrupt();
 
   /**
    * @brief A blocking API to waits until the graph execution has completed
    *
-   * @return gxf_result_t On success the function returns GXF_SUCCESS.
+   * @return Expected<void> Success or error code
    */
   Expected<void> wait();
 
@@ -284,6 +284,7 @@ class Application : public Segment {
   Expected<void> activate();
   Expected<void> deactivate();
   Expected<void> finalize();
+  Expected<void> setupCrashHandler();
 
   std::map<std::string, std::shared_ptr<Segment>> segments_;
   std::map<std::string, std::shared_ptr<Segment>> segments_plan_;

isaac_ros_gxf/gxf/core/include/gxf/app/arg.hpp

@@ -92,7 +92,7 @@ struct ArgOverride<Handle<T>> {
       GXF_LOG_ERROR("Unable to find the entity for %s", c_name.c_str());
       return Unexpected{result};
     }
-    result = GxfParameterGetStr(value.context(), eid, kInternalNameParameterKey, &entity_name);
+    result = GxfEntityGetName(value.context(), eid, &entity_name);
     if (result != GXF_SUCCESS) {
       GXF_LOG_ERROR("Unable to get the entity name");
       return Unexpected{result};

isaac_ros_gxf/gxf/core/include/gxf/app/entity_group.hpp

@@ -0,0 +1,93 @@
+// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+// Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#ifndef NVIDIA_GXF_ENTITY_GROUP_HPP_
+#define NVIDIA_GXF_ENTITY_GROUP_HPP_
+
+#include <map>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "gxf/app/graph_entity.hpp"
+
+namespace nvidia {
+namespace gxf {
+
+/**
+ * @brief  A wrapper over EntityGroup C APIs to manage a programmable
+ * entity group in C++ API layer
+ *
+ */
+class EntityGroup {
+ public:
+  EntityGroup() = default;
+
+  ~EntityGroup() = default;
+
+  EntityGroup(const EntityGroup&) = delete;
+
+  EntityGroup& operator=(const EntityGroup&) = delete;
+
+  /**
+   * @brief Creates a programmable entity group with the runtime context and sets its name
+   *
+   * @param context A valid GXF context
+   * @param name Name of the graph entity
+   */
+  Expected<void> setup(gxf_context_t context, const char* name);
+
+  /**
+   * @brief Add single entity into this entity group.
+   * All Resouce components within the group will be automatically resolved to owner components
+   * that has corresponding type of Resource members registered.
+   *
+   * @param GraphEntityPtr An entity in C++ API representation
+   */
+  Expected<void> add(GraphEntityPtr entity);
+
+  /**
+   * @brief Add a list of entities into this entity group.
+   * All Resouce components within the group will be automatically resolved to owner components
+   * that has corresponding type of Resource members registered.
+   *
+   * @param entity_members A list of entities in C++ API representation
+   */
+  Expected<void> add(std::vector<GraphEntityPtr> entity_members);
+
+  /**
+   * @return This entity group ID.
+   */
+  gxf_uid_t gid() const { return gid_; }
+
+  /**
+   * @return This entity group name.
+   */
+  std::string name() const { return name_; }
+
+ private:
+  gxf_uid_t gid_{kNullUid};
+  std::string name_;
+  std::map<std::string, GraphEntityPtr> entity_members_;
+};
+
+typedef std::shared_ptr<EntityGroup> EntityGroupPtr;
+
+}  // namespace gxf
+}  // namespace nvidia
+
+#endif  // NVIDIA_GXF_ENTITY_GROUP_HPP_

isaac_ros_gxf/gxf/core/include/gxf/app/graph_entity.hpp

@@ -81,13 +81,13 @@ class GraphEntity {
    * @tparam T Type of component. Must be derived from nvidia::gxf::Component
    * @param name Name of the component
    * @param args Args must be of type Arg
-   * @return Handle<T> Handle to newly created component
+   * @return Handle<T> Handle to newly created component. Null handle if component was not created.
    */
   template <typename T, typename... Args>
   Handle<T> add(const char* name = nullptr, Args... args) {
     std::vector<Arg> arg_list;
     if constexpr (sizeof...(args) > 0) { arg_list = parseArgsOfType<Arg>(args...); }
-    return add<T>(name, arg_list);
+    return add<T>(name, std::move(arg_list));
   }
 
   /**
@@ -98,7 +98,7 @@ class GraphEntity {
    * @tparam T Type of component. Must be derived from nvidia::gxf::Component
    * @param name Name of the component
    * @param arg_list vector of Arg used for initializing the component's parameters.
-   * @return Handle<T> Handle to newly created component
+   * @return Handle<T> Handle to newly created component. Null handle if component was not created.
    */
   template <typename T>
   Handle<T> add(const char* name, std::vector<Arg> arg_list) {
@@ -115,7 +115,7 @@ class GraphEntity {
    */
   template <typename T, size_t N = kMaxComponents>
   FixedVector<Handle<T>, N> findAll() const {
-    auto maybe_result = entity_.findAll<T>();
+    auto maybe_result = entity_.findAll<T, N>();
     return maybe_result ? maybe_result.value() : FixedVector<Handle<T>, N>();
   }
 
@@ -685,7 +685,7 @@ class GraphEntity {
   // resource lookup by name
   std::map<std::string, Handle<ResourceBase>> resources_;
 
-  gxf_uid_t eid_;
+  gxf_uid_t eid_{kNullUid};
   Entity entity_;
 };