Merge pull request #42 from NVIDIA-ISAAC-ROS/release-3.0

Isaac ROS 3.0.0

Author: hemalshahNV

README.md

@@ -9,6 +9,28 @@ NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly moveme
 [Isaac ROS NITROS](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros) contains NVIDIA’s implementation
 of type adaptation and negotiation in ROS 2. To learn more about NITROS, see [here](https://nvidia-isaac-ros.github.io/concepts/nitros/index.html).
 
+Isaac ROS NITROS is composed of a number of individual packages, each with either a functional or structural purpose:
+
+`isaac_ros_gxf`:
+: This package serves as a container for precompiled GXF extensions used by other Isaac ROS packages.
+  While a number of GXF extensions used by Isaac ROS are provided with source, the extensions contained in `isaac_ros_gxf` are license constrained and are thus shipped as `.so` binaries.
+
+`isaac_ros_managed_nitros`:
+: This package contains the wrapper classes that enable developers to add NITROS-compatible publishers and subscribers to third-party CUDA-based ROS nodes.
+  For more information about CUDA with NITROS, see [here](https://nvidia-isaac-ros.github.io/concepts/nitros/cuda_with_nitros.html).
+
+`isaac_ros_nitros`:
+: This package contains the base `NitrosNode` class and associated core utilities that serve as the foundation for all NITROS-based ROS nodes.
+
+`isaac_ros_nitros_interfaces`:
+: This package contains the definitions of the custom ROS 2 interfaces that facilitate type negotiation between NITROS nodes.
+
+`isaac_ros_nitros_topic_tools`:
+: This folder contains a NITROS based implementation of some of the nodes in the [topic_tools package](https://github.com/ros-tooling/topic_tools).
+
+`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.
+
 ---
 
 ## Documentation
@@ -24,8 +46,10 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 * [`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_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)
 
 ## Latest
 
-Update 2023-10-18: Introducing CUDA with NITROS.
+Update 2024-05-30: Add support for NITROS message filters

isaac_ros_gxf/CMakeLists.txt

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2024 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.
@@ -31,26 +31,91 @@ install(
   DIRECTORY gxf/core/include/
   DESTINATION share/${PROJECT_NAME}/gxf/include/
 )
-# GXF ext headers
-install(
-  DIRECTORY gxf/ext/include/
-  DESTINATION share/${PROJECT_NAME}/gxf/include/
-)
 
 # Install extensions directory
 if( ${ARCHITECTURE} STREQUAL "x86_64" )
-  install(DIRECTORY gxf/core/lib/gxf_x86_64_cuda_11_8/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
-  install(DIRECTORY gxf/ext/lib/gxf_x86_64_cuda_11_8/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
+  install(DIRECTORY gxf/core/lib/gxf_x86_64_cuda_12_2/ DESTINATION share/${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)
 elseif( ${ARCHITECTURE} STREQUAL "aarch64" )
-  install(DIRECTORY gxf/core/lib/gxf_jetpack51/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
-  install(DIRECTORY gxf/ext/lib/gxf_jetpack51/ DESTINATION share/${PROJECT_NAME}/gxf/lib)
+  install(DIRECTORY gxf/core/lib/gxf_jetpack60/ DESTINATION share/${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)
 endif()
 
 # Register cmake in install.
 ament_index_register_resource(isaac_ros_gxf_cmake_path CONTENT
     "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/cmake")
 list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS cmake/isaac_ros_gxf-extras.cmake)
 
+# Core
+add_library(Core INTERFACE)
+set_target_properties(Core PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/include"
+)
+set_property(TARGET Core PROPERTY
+  INTERFACE_LINK_LIBRARIES
+    magic_enum::magic_enum
+    "$<INSTALL_PREFIX>/lib/libgxf_core.so"
+)
+
+# Logger
+add_library(Logger INTERFACE)
+set_target_properties(Logger PROPERTIES
+  INTERFACE_LINK_LIBRARIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/lib/logger/libgxf_logger.so"
+  INTERFACE_INCLUDE_DIRECTORIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/include"
+)
+
+# Std
+add_library(Std INTERFACE)
+set_target_properties(Std PROPERTIES
+  INTERFACE_LINK_LIBRARIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/lib/std/libgxf_std.so"
+  INTERFACE_INCLUDE_DIRECTORIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/include"
+)
+
+# Multimedia
+add_library(Multimedia INTERFACE)
+set_target_properties(Multimedia PROPERTIES
+  INTERFACE_LINK_LIBRARIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/lib/multimedia/libgxf_multimedia.so"
+  INTERFACE_INCLUDE_DIRECTORIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/include"
+)
+
+# Serialization
+add_library(Serialization INTERFACE)
+set_target_properties(Serialization PROPERTIES
+  INTERFACE_LINK_LIBRARIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/lib/serialization/libgxf_serialization.so"
+  INTERFACE_INCLUDE_DIRECTORIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/include"
+)
+
+# Cuda
+add_library(Cuda INTERFACE)
+set_target_properties(Cuda PROPERTIES
+  INTERFACE_LINK_LIBRARIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/lib/cuda/libgxf_cuda.so"
+  INTERFACE_INCLUDE_DIRECTORIES
+    "$<INSTALL_PREFIX>/share/${PROJECT_NAME}/gxf/include"
+)
+
+install(TARGETS Core Logger Std Multimedia Serialization Cuda
+        EXPORT export_${PROJECT_NAME}
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib
+        RUNTIME DESTINATION bin)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
 

isaac_ros_gxf/cmake/isaac_ros_gxf-extras.cmake

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2023-2024 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.

isaac_ros_gxf/cmake/modules/FindGXF.cmake

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2024 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.
@@ -31,13 +31,8 @@
 
 # Library names
 list(APPEND _GXF_EXTENSIONS
-    atlas
     cuda
-    isaac_messages
-    isaac_ros_messages
-    message_compositor
     multimedia
-    gxf_optimizer
     serialization
     std
 )

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

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2024 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.

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

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2022-2024 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.

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

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2024 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.

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

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2024 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.

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

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2024 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.
@@ -86,7 +86,7 @@ using ResultType = decltype(Declval<F>()(Declval<Es>().value()...));
 template <class F, class... Es>
 using ErrorResultType = UnexpectedType<decltype(Declval<F>()(Declval<Es>().error()...))>;
 
-// Empty stuct for representing an object with only one possible value (itself). This can be used
+// Empty struct for representing an object with only one possible value (itself). This can be used
 // for speciallizing on void types where void would not compile because it is not a valid type.
 // NOTE: GCC9 has a bug where it cannot evaluate the destructor of an empty struct, so put a dummy
 //   byte in to pass the compiler warnings. All empty structs are always considered non-zero in size
@@ -336,7 +336,8 @@ class ExpectedBase {
   }
   template <class... Args>
   constexpr Derived&& log_error(Args&&... args) && {
-  // GCC is not able to do format security validation when the string is coming from a variadic template, even if the string is originally a char*
+  // GCC is not able to do format security validation when the string is coming from a
+  // variadic template, even if the string is originally a char*
   // ignore this warning until a more recent GCC version fixes this behavior
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wformat-security"
@@ -553,7 +554,7 @@ class ExpectedBase {
     static_assert(IsSame_v<U, RemoveCVRef_t<ValueType<Derived>>>,
         "received pointer-to-member that is not of type T.");
     // NOTE: there is a subtle distinction here. If we want to get access to a member variable
-    // from an rvalue context, we MUST make a copy, since we cannot guarrantee the reference will
+    // from an rvalue context, we MUST make a copy, since we cannot guarantee the reference will
     // still be valid after destruction of the temporary.
     auto func = [&](ValueType<Derived>&& a) { return a.*ptr; };
     return has_value() ? FunctorMap(func, std::move(*derived())) : unexpected();
@@ -700,20 +701,20 @@ class ExpectedBase {
     return std::move(*ValuePointer<Unexpected<E>>(buffer_));
   }
 
-  // Returns a pointer to the dervied type for accessing value result in supported specializations.
+  // Returns a pointer to the derived type for accessing value result in supported specializations.
   constexpr const Derived* derived() const { return static_cast<const Derived*>(this); }
   constexpr       Derived* derived()       { return static_cast<Derived*>(this); }
 
   ///-----------------------------------------------------------------------------------------------
   /// Construction Helpers
   ///-----------------------------------------------------------------------------------------------
-  // Constuct a new object in allocated buffer.
+  // Construct a new object in allocated buffer.
   template <class U, class G, class D>
   constexpr void constructFrom(const ExpectedBase<U, G, D>& other) {
     other.has_value() ? constructValueFrom(other) : constructErrorFrom(other);
   }
 
-  // Move constuct a new object in allocated buffer.
+  // Move construct a new object in allocated buffer.
   template <class U, class G, class D>
   constexpr void constructFrom(ExpectedBase<U, G, D>&& other) {
     other.has_value() ? constructValueFrom(std::move(other)) : constructErrorFrom(std::move(other));

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

@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2023-2024 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.
@@ -39,7 +39,7 @@ class FixedMap {
   template <typename TContainer>
   using ConstIterator = Iterator<const TContainer, const typename TContainer::value_type>;
 
-  // Use STL naming convension for compatibility with STL algorithms
+  // Use STL naming convention for compatibility with STL algorithms
   using key_type               = Key;
   using mapped_type            = T;
   using value_type             = std::pair<const key_type, mapped_type>;
@@ -363,7 +363,7 @@ class FixedMap {
     return kSuccess;
   }
 
-  // Assings an the value to the given key if it exists, else creates a new object
+  // Assigns an the value to the given key if it exists, else creates a new object
   template <typename... Args>
   Expected<void> insert_or_assign(Args&&... args) {
     value_type value(std::forward<Args>(args)...);