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Merge pull request #7 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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‎README.md‎

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@@ -6,27 +6,30 @@ Optimized Isaac ROS packages for [Isaac Nova Orin](https://developer.nvidia.com/
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## Overview
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[Isaac ROS Nova](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nova) provides a set of optimized packages to interface with the [Isaac Nova Orin](https://developer.nvidia.com/isaac/nova-orin) sensor suite.
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[Isaac ROS Nova](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nova) provides a set of optimized packages and tools to interface with the Nova sensor suite.
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These packages integrate with hardware timestamp synchronization on Jetson Orin platforms to enable high-quality sensor fusion.
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Sensor data streams through Isaac ROS graphs using [NITROS](https://nvidia-isaac-ros.github.io/concepts/nitros/index.html) for NVIDIA-accelerated processing.
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> [!Note]
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> Isaac ROS Nova requires having run `nova-orin-init` [here](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/resources/nova_orin)
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> on your compute node before using any of the included packages.
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> Isaac ROS Nova requires having run `nova-orin-init` [here](https://nvidia-isaac-ros.github.io/nova/nova_init/index.html#install) on your compute node before using any of the included packages.
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* [Hesai Pandar XT32 3D LiDAR](https://www.hesaitech.com/product/xt32/)
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* [Leopard Imaging HAWK stereo camera](https://leopardimaging.com/leopard-imaging-hawk-stereo-camera/)
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* [Leopard Imaging OWL monocular camera](https://leopardimaging.com/product/automotive-cameras/cameras-by-interface/maxim-gmsl-2-cameras/li-ar0234cs-gmsl2-owl/li-ar0234cs-gmsl2-owl/)
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* [Bosch BMI088 IMU](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/)
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## Quickstart
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It is recommended to use Nova through the [Isaac ROS Nova meta-package](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nova/blob/main/isaac_ros_nova). This package will launch all the sensor drivers for your defined Nova system. Guidelines and instructions on its use can be found [here](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova/index.html).
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## Isaac ROS NITROS Acceleration
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This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://developer.nvidia.com/blog/improve-perception-performance-for-ros-2-applications-with-nvidia-isaac-transport-for-ros/), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.
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## Performance
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| Sample Graph<br/><br/> | Input Size<br/><br/> | Nova Carter<br/><br/> |
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|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [Data Recorder Live Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_data_recorder_nova_benchmark/scripts/isaac_ros_data_recorder_4_hawk.py)<br/><br/><br/>4 Hawk Cameras<br/><br/> | 1200p<br/><br/><br/><br/> | [30.3 fps (per stream avg)](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_data_recorder_4_hawk-carter_v2.4.json)<br/><br/><br/>0 dropped frames (avg)<br/><br/> |
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| Sample Graph<br/><br/> | Input Size<br/><br/> | Nova Carter<br/><br/> |
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|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [Data Recorder Live Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_data_recorder_nova_benchmark/scripts/isaac_ros_data_recorder_4_hawk.py)<br/><br/><br/>4 Hawk Cameras<br/><br/> | 1200p<br/><br/><br/><br/> | [22.0 fps (per stream avg)](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_data_recorder_4_hawk-carter-v2.4-jp6.json)<br/><br/><br/>0 dropped frames (avg)<br/><br/> |
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---
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@@ -45,9 +48,7 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_correlated_timestamp_driver/index.html#api)
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* [`isaac_ros_data_recorder`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html#quickstart)
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* [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html#try-more-examples)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html#troubleshooting)
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* [Tutorials](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html#tutorials)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_recorder/index.html#api)
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* [`isaac_ros_data_replayer`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_replayer/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_replayer/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_validation/index.html#quickstart)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_validation/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_validation/index.html#api)
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* [`isaac_ros_ground_calibration`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html#quickstart)
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* [Calibration Target](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html#calibration-target)
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* [Data Recording](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html#data-recording)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_ground_calibration/index.html#api)
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* [`isaac_ros_hawk`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hawk/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hawk/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hawk/index.html#quickstart)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_imu_bmi088/index.html#quickstart)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_imu_bmi088/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_imu_bmi088/index.html#api)
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* [`isaac_ros_nova`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova/index.html#quickstart)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova/index.html#api)
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* [`isaac_ros_nova_recorder`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova_recorder/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova_recorder/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova_recorder/index.html#quickstart)
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* [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova_recorder/index.html#try-more-examples)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova_recorder/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_nova_recorder/index.html#api)
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* [`isaac_ros_owl`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_owl/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_owl/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_owl/index.html#quickstart)
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## Latest
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Update 2024-09-26: Update for Isaac ROS 3.1
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Update 2024-12-10: Added ground calibration support

‎hawk_description/CMakeLists.txt‎

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@@ -21,6 +21,12 @@ project(hawk_description LANGUAGES C CXX)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE meshes urdf launch)
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install(

‎hawk_description/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>hawk_description</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Description of Hawk Stereo Camera</description>
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<maintainer email="[email protected]">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-gems/</url>
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<author>Xavier Perez Sala</author>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<build_depend>isaac_ros_common</build_depend>
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<exec_depend>isaac_ros_launch_utils</exec_depend>
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<exec_depend>launch</exec_depend>

‎hawk_description/urdf/hawk.urdf.xacro‎

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<xacro:include filename="$(find hawk_description)/urdf/hawk_macro.urdf.xacro"/>
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<link name="base_link"/>
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<xacro:hawk_camera name="hawk_stereo" parent="base_link" mount_is_root="true">
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<xacro:hawk_camera name="hawk_stereo" parent="base_link" mount_is_root="true" add_subsensor_frames="true">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</xacro:hawk_camera>
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</robot>

‎hawk_description/urdf/hawk_macro.urdf.xacro‎

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- parent: Parent link where the root of this macro will be connected with a joint.
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Default value: base_link
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- mount_is_root: Flag identifying the root link. If true, root is _mount, othewise is _camera.
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- add_subsensor_frames: Whether to add frames of subs-ensors to the tree (recommended only if
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driver is not publishing them).
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-->
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<xacro:macro name="hawk_camera" params="*origin name=hawk_stereo parent=base_link
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mount_is_root:=false">
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mount_is_root:=false add_subsensor_frames:=false">
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<!-- Constants -->
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<xacro:property name="M_PI" value="3.1415926535897931"/>
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<child link="${root_link}"/>
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</joint>
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<!-- Left camera -->
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<link name="${name}_camera_left"/>
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<joint name="${name}_camera_left_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_left"/>
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</joint>
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<!-- Whether to add frames of subs-ensors to the tree (if driver is not publishing them) -->
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<xacro:if value="${add_subsensor_frames}">
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<!-- Left camera -->
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<link name="${name}_camera_left"/>
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<joint name="${name}_camera_left_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_left"/>
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</joint>
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<link name="${name}_camera_left_optical"/>
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<joint name="${name}_camera_left_optical_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}"/>
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<parent link="${name}_camera_left"/>
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<child link="${name}_camera_left_optical"/>
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</joint>
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<link name="${name}_camera_left_optical"/>
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<joint name="${name}_camera_left_optical_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}"/>
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<parent link="${name}_camera_left"/>
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<child link="${name}_camera_left_optical"/>
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</joint>
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<!-- Right camera -->
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<link name="${name}_camera_right"/>
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<joint name="${name}_camera_right_joint" type="fixed">
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<origin xyz="0.0 ${-baseline} 0.0" rpy="0.0 0.0 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_right"/>
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</joint>
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<!-- Right camera -->
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<link name="${name}_camera_right"/>
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<joint name="${name}_camera_right_joint" type="fixed">
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<origin xyz="0.0 ${-baseline} 0.0" rpy="0.0 0.0 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_right"/>
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</joint>
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<link name="${name}_camera_right_optical"/>
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<joint name="${name}_camera_right_optical_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}"/>
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<parent link="${name}_camera_right"/>
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<child link="${name}_camera_right_optical"/>
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</joint>
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<link name="${name}_camera_right_optical"/>
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<joint name="${name}_camera_right_optical_joint" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}"/>
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<parent link="${name}_camera_right"/>
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<child link="${name}_camera_right_optical"/>
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</joint>
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<!-- IMU -->
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<link name="${name}_camera_imu"/>
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<joint name="${name}_camera_imu_joint" type="fixed">
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<origin xyz="${imu_offset_x} ${imu_offset_y} ${imu_offset_z}" rpy="0.0 ${M_PI/2} 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_imu"/>
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</joint>
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<!-- IMU -->
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<link name="${name}_camera_imu"/>
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<joint name="${name}_camera_imu_joint" type="fixed">
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<origin xyz="${imu_offset_x} ${imu_offset_y} ${imu_offset_z}" rpy="0.0 ${M_PI/2} 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_imu"/>
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</joint>
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</xacro:if>
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</robot>

‎isaac_ros_correlated_timestamp_driver/CMakeLists.txt‎

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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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‎isaac_ros_correlated_timestamp_driver/launch/correlated_timestamp_driver.launch.py‎

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default_value='False',
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)
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launch_args = [

‎isaac_ros_correlated_timestamp_driver/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_correlated_timestamp_driver</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Correlated Timestamp Driver.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_correlated_timestamp_driver/test/isaac_ros_correlated_timestamp_driver_pol_test.py‎

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command = 'ls /dev/nvpps0'
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# 0 return code means response was received
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if(result.returncode == 0):
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if result.returncode == 0:
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IsaacROSCorrelatedTimestampDriverPOLTest.skip_test = False
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"""Generate launch description with all ROS 2 nodes for testing."""
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correlated_timestamp_driver_node = ComposableNode(

‎isaac_ros_data_recorder/CMakeLists.txt‎

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endif()
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install(PROGRAMS
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scripts/record_data.sh
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DESTINATION lib/${PROJECT_NAME}
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)
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install(PROGRAMS src/event_recorder_node.py DESTINATION lib/${PROJECT_NAME})
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install(PROGRAMS src/rosbag2_node.py DESTINATION lib/${PROJECT_NAME})
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find_package(ament_cmake_auto REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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install(DIRECTORY
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config
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DESTINATION share/${PROJECT_NAME}
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/RecordingInfo.msg"
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"srv/Event.srv"
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"srv/StartRecording.srv"
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"srv/StopRecording.srv"
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DEPENDENCIES builtin_interfaces
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ADD_LINTER_TESTS
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)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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ament_export_dependencies(rosidl_default_runtime)
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE launch)

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