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Merge pull request #35 from NVIDIA-ISAAC-ROS/release-2.1
Isaac ROS 2.1.0
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‎isaac_ros_gxf/package.xml‎

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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_gxf</name>
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<version>2.0.0</version>
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<version>2.1.0</version>
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<description>Isaac ROS GXF</description>
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<maintainer email="[email protected]">CY Chen</maintainer>

‎isaac_ros_managed_nitros/package.xml‎

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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_managed_nitros</name>
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<version>2.0.0</version>
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<version>2.1.0</version>
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<description>Utilities for leveraging NITROS in custom ROS 2 nodes</description>
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<maintainer email="[email protected]">Hemal Shah</maintainer>

‎isaac_ros_managed_nitros_examples/custom_nitros_dnn_image_encoder/CMakeLists.txt‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2021-2023 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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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.22.1)
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project(custom_nitros_dnn_image_encoder LANGUAGES C CXX CUDA)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wno-narrowing)
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endif()
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# image Encoder node
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ament_auto_add_library(image_encoder_node SHARED src/image_encoder_node.cpp)
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target_link_libraries(image_encoder_node cvcuda nvcv_types)
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rclcpp_components_register_nodes(image_encoder_node "custom_nitros_dnn_image_encoder::ImageEncoderNode")
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set(node_plugins "${node_plugins}custom_nitros_dnn_image_encoder::ImageEncoderNode;$<TARGET_FILE:image_encoder_node>\n")
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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)
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endif()
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find_package(launch_testing_ament_cmake REQUIRED)
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add_launch_test(test/custom_nitros_dnn_image_encoder_pol.py TIMEOUT "600")
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endif()
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ament_auto_package(INSTALL_TO_SHARE launch)

‎isaac_ros_managed_nitros_examples/custom_nitros_dnn_image_encoder/COLCON_IGNORE‎

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‎isaac_ros_managed_nitros_examples/custom_nitros_dnn_image_encoder/include/custom_nitros_dnn_image_encoder/image_encoder_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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//
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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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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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// SPDX-License-Identifier: Apache-2.0
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#ifndef CUSTOM_NITROS_DNN_IMAGE_ENCODER__IMAGE_ENCODER_NODE_HPP_
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#define CUSTOM_NITROS_DNN_IMAGE_ENCODER__IMAGE_ENCODER_NODE_HPP_
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#include <memory>
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#include <string>
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#include <vector>
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#include "rclcpp/rclcpp.hpp"
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#include "isaac_ros_managed_nitros/managed_nitros_publisher.hpp"
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#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp"
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#include "sensor_msgs/msg/image.hpp"
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#include <nvcv/Tensor.hpp>
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#include <cvcuda/OpResize.hpp>
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#include <cvcuda/OpCvtColor.hpp>
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#include <cvcuda/OpConvertTo.hpp>
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#include <cvcuda/OpNormalize.hpp>
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#include <cvcuda/OpReformat.hpp>
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namespace custom_nitros_dnn_image_encoder
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{
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struct NVCVImageFormat
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{
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nvcv::ImageFormat interleaved_format;
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nvcv::ImageFormat planar_float_format;
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nvcv::ImageFormat interleaved_float_format;
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};
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class ImageEncoderNode : public rclcpp::Node
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{
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public:
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explicit ImageEncoderNode(const rclcpp::NodeOptions options = rclcpp::NodeOptions());
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~ImageEncoderNode();
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private:
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void InputCallback(const sensor_msgs::msg::Image::SharedPtr msg);
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// Subscription to input image messages
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rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
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// Publisher for output NitrosTensorList messages
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std::shared_ptr<nvidia::isaac_ros::nitros::ManagedNitrosPublisher<
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nvidia::isaac_ros::nitros::NitrosTensorList>> nitros_pub_;
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// Name of tensor in NitrosTensorList
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std::string tensor_name_{};
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std::string input_image_encoding_{};
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std::string output_image_encoding_{};
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const uint16_t output_image_width_{};
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const uint16_t output_image_height_{};
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const uint16_t input_image_width_{};
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const uint16_t input_image_height_{};
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std::vector<double> image_mean_{};
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std::vector<double> image_stddev_{};
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const uint16_t batch_size_ = 1;
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uint16_t input_image_channels_ = 0;
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uint16_t output_image_channels_ = 0;
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nvcv::TensorDataStridedCuda::Buffer input_image_buffer_;
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nvcv::Tensor input_image_tensor_;
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nvcv::TensorDataStridedCuda::Buffer output_image_buffer_;
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nvcv::Tensor output_image_tensor_;
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cvcuda::Resize resize_op_;
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cvcuda::CvtColor cvtColor_op_;
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cvcuda::Reformat reformat_op_;
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cvcuda::Normalize norm_op_;
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cvcuda::ConvertTo convert_op_;
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nvcv::Tensor std_dev_tensor_;
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nvcv::Tensor mean_tensor_;
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nvcv::Tensor resized_tensor_;
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nvcv::Tensor color_converted_tensor_;
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nvcv::Tensor float_tensor_;
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nvcv::Tensor norm_tensor_;
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NVCVColorConversionCode color_conversion_code_;
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};
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} // namespace custom_nitros_dnn_image_encoder
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#endif // CUSTOM_NITROS_DNN_IMAGE_ENCODER__IMAGE_ENCODER_NODE_HPP_

‎isaac_ros_managed_nitros_examples/custom_nitros_dnn_image_encoder/launch/custom_image_isaac_ros_dope_tensor_rt.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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#
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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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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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import launch
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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def generate_launch_description():
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"""Generate launch description for DOPE encoder->TensorRT->DOPE decoder."""
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launch_args = [
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DeclareLaunchArgument(
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'output_image_width',
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default_value='640',
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description='The expected output image width from custom encoder'),
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DeclareLaunchArgument(
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'output_image_height',
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default_value='480',
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description='The expected output image height from custom encoder'),
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DeclareLaunchArgument(
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'input_image_width',
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default_value='1920',
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description='The expected output image width from custom encoder'),
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DeclareLaunchArgument(
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'input_image_height',
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default_value='1080',
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description='The expected output image height from custom encoder'),
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DeclareLaunchArgument(
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'image_mean',
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default_value='[0.5, 0.5, 0.5]',
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description='The mean for image normalization'),
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DeclareLaunchArgument(
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'image_stddev',
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default_value='[0.5, 0.5, 0.5]',
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description='The standard deviation for image normalization'),
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DeclareLaunchArgument(
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'model_file_path',
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description='The absolute file path to the ONNX file'),
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DeclareLaunchArgument(
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'engine_file_path',
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default_value='/tmp/trt_engine.plan',
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description='The absolute file path to the TensorRT engine file'),
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DeclareLaunchArgument(
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'input_tensor_names',
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default_value='["input_tensor"]',
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description='A list of tensor names to bound to the specified input binding names'),
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DeclareLaunchArgument(
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'input_binding_names',
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default_value='["input"]',
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description='A list of input tensor binding names (specified by model)'),
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DeclareLaunchArgument(
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'input_tensor_formats',
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default_value='["nitros_tensor_list_nchw_rgb_f32"]',
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description='The nitros format of the input tensors'),
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DeclareLaunchArgument(
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'output_tensor_names',
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default_value='["output"]',
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description='A list of tensor names to bound to the specified output binding names'),
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DeclareLaunchArgument(
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'output_binding_names',
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default_value='["output"]',
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description='A list of output tensor binding names (specified by model)'),
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DeclareLaunchArgument(
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'output_tensor_formats',
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default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
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description='The nitros format of the output tensors'),
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DeclareLaunchArgument(
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'tensorrt_verbose',
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default_value='False',
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description='Whether TensorRT should verbosely log or not'),
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DeclareLaunchArgument(
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'object_name',
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default_value='Ketchup',
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description='The object class that the DOPE network is detecting'),
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DeclareLaunchArgument(
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'force_engine_update',
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default_value='False',
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description='Whether TensorRT should update the TensorRT engine file or not'),
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]
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# Custom Image Encoder parameters
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input_image_width = LaunchConfiguration('input_image_width')
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input_image_height = LaunchConfiguration('input_image_height')
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network_image_width = LaunchConfiguration('output_image_width')
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network_image_height = LaunchConfiguration('output_image_height')
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encoder_image_mean = LaunchConfiguration('image_mean')
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encoder_image_stddev = LaunchConfiguration('image_stddev')
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# Tensor RT parameters
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model_file_path = LaunchConfiguration('model_file_path')
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engine_file_path = LaunchConfiguration('engine_file_path')
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input_tensor_names = LaunchConfiguration('input_tensor_names')
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input_binding_names = LaunchConfiguration('input_binding_names')
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input_tensor_formats = LaunchConfiguration('input_tensor_formats')
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output_tensor_names = LaunchConfiguration('output_tensor_names')
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output_binding_names = LaunchConfiguration('output_binding_names')
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output_tensor_formats = LaunchConfiguration('output_tensor_formats')
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tensorrt_verbose = LaunchConfiguration('tensorrt_verbose')
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force_engine_update = LaunchConfiguration('force_engine_update')
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# DOPE Decoder parameters
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object_name = LaunchConfiguration('object_name')
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encoder_node = ComposableNode(
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name='encoder_node',
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package='custom_nitros_dnn_image_encoder',
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plugin='custom_nitros_dnn_image_encoder::ImageEncoderNode',
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parameters=[{
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'output_image_width': network_image_width,
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'output_image_height': network_image_height,
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'image_mean': encoder_image_mean,
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'image_stddev': encoder_image_stddev,
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'input_image_height': input_image_height,
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'input_image_width': input_image_width
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}],
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remappings=[('/encoded_tensor', '/tensor_pub')]
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)
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dope_inference_node = ComposableNode(
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name='dope_inference',
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package='isaac_ros_tensor_rt',
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plugin='nvidia::isaac_ros::dnn_inference::TensorRTNode',
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parameters=[{
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'model_file_path': model_file_path,
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'engine_file_path': engine_file_path,
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'input_tensor_names': input_tensor_names,
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'input_binding_names': input_binding_names,
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'input_tensor_formats': input_tensor_formats,
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'output_tensor_names': output_tensor_names,
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'output_binding_names': output_binding_names,
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'output_tensor_formats': output_tensor_formats,
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'verbose': tensorrt_verbose,
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'force_engine_update': force_engine_update
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}])
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dope_decoder_node = ComposableNode(
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name='dope_decoder',
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package='isaac_ros_dope',
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plugin='nvidia::isaac_ros::dope::DopeDecoderNode',
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parameters=[{
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'object_name': object_name,
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}],
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remappings=[('belief_map_array', 'tensor_sub'),
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('dope/pose_array', 'poses')])
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container = ComposableNodeContainer(
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name='dope_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container_mt',
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composable_node_descriptions=[encoder_node, dope_inference_node, dope_decoder_node],
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output='screen',
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)
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final_launch_description = launch_args + [container]
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return launch.LaunchDescription(final_launch_description)

‎isaac_ros_managed_nitros_examples/custom_nitros_dnn_image_encoder/package.xml‎

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<?xml version="1.0"?>
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<!--
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SPDX-FileCopyrightText: Copyright (c) 2021-2022 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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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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SPDX-License-Identifier: Apache-2.0
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-->
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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>custom_nitros_dnn_image_encoder</name>
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<version>1.0.0</version>
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<description>Custom NITROS Image Encoding</description>
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<maintainer email="[email protected]">Hemal Shah</maintainer>
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<license>Apache-2.0</license>
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<url type="website">https://developer.nvidia.com/isaac-ros-gems/</url>
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<author>Shubham Tyagi</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>isaac_ros_managed_nitros</depend>
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<depend>isaac_ros_tensor_list_interfaces</depend>
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<build_depend>isaac_ros_common</build_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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<test_depend>isaac_ros_test</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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