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Merge pull request #4 from NVIDIA-ISAAC-ROS/release-3.0
Isaac ROS 3.0.0
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‎.gitattributes‎

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*.so.* filter=lfs diff=lfs merge=lfs -text
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*.so filter=lfs diff=lfs merge=lfs -text
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# 3D assets
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*.obj filter=lfs diff=lfs merge=lfs -text
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*.mtl filter=lfs diff=lfs merge=lfs -text

‎.gitignore‎

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**/install/**
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**/cc_internals/**
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**/log/**
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# Ignore saved rosbags
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**/rosbags/**
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# Model files
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**/models/**

‎README.md‎

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@@ -8,8 +8,11 @@ Optimized Isaac ROS packages for [Isaac Nova Orin](https://developer.nvidia.com/
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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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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 hardware-accelerated processing.
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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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* [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/)
@@ -19,6 +22,12 @@ Sensor data streams through Isaac ROS graphs using [NITROS](https://nvidia-isaac
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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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---
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## Documentation
@@ -30,16 +39,47 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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## Packages
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* [`isaac_ros_correlated_timestamp_driver`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_correlated_timestamp_driver/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_correlated_timestamp_driver/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_correlated_timestamp_driver/index.html#quickstart)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_correlated_timestamp_driver/index.html#troubleshooting)
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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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* [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_replayer/index.html#quickstart)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_replayer/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_replayer/index.html#api)
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* [`isaac_ros_data_validation`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_validation/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_data_validation/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_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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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hawk/index.html#api)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hawk/index.html#troubleshooting)
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* [`isaac_ros_hesai`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hesai/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hesai/index.html#overview)
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* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hesai/index.html#quickstart)
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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hesai/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_hesai/index.html#api)
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* [`isaac_ros_imu_bmi088`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_imu_bmi088/index.html)
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* [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_imu_bmi088/index.html#overview)
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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_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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* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_owl/index.html#troubleshooting)
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* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nova/isaac_ros_owl/index.html#api)
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## Latest
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Update 2023-10-18: Initial release
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Update 2024-05-30: Introduced Data Recorder and other utilities

‎hawk_description/CMakeLists.txt‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2024 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(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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ament_auto_package(INSTALL_TO_SHARE meshes urdf launch)
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install(
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DIRECTORY meshes urdf
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DESTINATION share/${PROJECT_NAME}/
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)
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‎hawk_description/launch/hawk_description.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2024 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 pathlib
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from isaac_ros_launch_utils.all_types import *
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import isaac_ros_launch_utils as lu
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def generate_launch_description() -> LaunchDescription:
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return LaunchDescription([lu.add_robot_description('hawk_description','urdf/hawk.urdf.xacro')])

‎hawk_description/meshes/hawk.mtl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:9e4edc8bd7b21ad405f79e8e140562f3673f2b5dc0bd64bc0f0c450415a7e58d
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size 1099

‎hawk_description/meshes/hawk.obj‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:697961852badc5517d66daf47825f69ec9d58ded86a63c28a65dc4eacfc104a4
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size 10973839

‎hawk_description/package.xml‎

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<?xml version="1.0"?>
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<!--
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SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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SPDX-License-Identifier: Apache-2.0
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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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-->
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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>3.0.0</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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<exec_depend>isaac_ros_launch_utils</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>robot_state_publisher</exec_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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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎hawk_description/urdf/hawk.urdf.xacro‎

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<?xml version="1.0"?>
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<!--
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Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
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NVIDIA CORPORATION and its licensors retain all intellectual property
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and proprietary rights in and to this software, related documentation
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and any modifications thereto. Any use, reproduction, disclosure or
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distribution of this software and related documentation without an express
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license agreement from NVIDIA CORPORATION is strictly prohibited.
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-->
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<robot name="please_specify_robot_name" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="robot_namespace" default="/"/>
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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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<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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<?xml version="1.0"?>
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<!--
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Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
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NVIDIA CORPORATION and its licensors retain all intellectual property
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and proprietary rights in and to this software, related documentation
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and any modifications thereto. Any use, reproduction, disclosure or
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distribution of this software and related documentation without an express
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license agreement from NVIDIA CORPORATION is strictly prohibited.
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!--
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Definition of the hawk_camera macro
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Parameters:
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- origin: Origin of the transformation connecting the root of this macro with parent link.
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- name: The camera name. e.g., if it is "front_stereo", the link is "front_stereo_camera".
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Default value: "hawk_stereo", which leads to "hawk_stereo_camera" link name.
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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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-->
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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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<!-- Constants -->
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<xacro:property name="M_PI" value="3.1415926535897931"/>
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<xacro:property name="baseline" value="0.15"/>
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<xacro:property name="mount_offset_x" value="-0.001"/>
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<xacro:property name="mount_offset_y" value="-0.075"/>
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<xacro:property name="mount_offset_z" value="-0.0125"/>
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<xacro:property name="imu_offset_x" value="0.0"/>
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<xacro:property name="imu_offset_y" value="-0.0947"/>
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<xacro:property name="imu_offset_z" value="0.0061"/>
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<!-- Main camera link: Origin is at the principal point of the left camera -->
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<link name="${name}_camera">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="package://hawk_description/meshes/hawk.obj"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="package://hawk_description/meshes/hawk.obj"/>
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</geometry>
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</collision>
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</link>
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<!-- Camera mounting point: Bottom-Center of the threaded screw hole in the bottom -->
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<link name="${name}_camera_mount"/>
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<!-- Joints connecting camera main link to mount, and to the parent provided as argument -->
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<xacro:if value="${mount_is_root}">
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<xacro:property name="root_link" value="${name}_camera_mount"/>
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<joint name="${name}_camera_mount_joint" type="fixed">
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<origin xyz="${-mount_offset_x} ${-mount_offset_y} ${-mount_offset_z}" rpy="0.0 0.0 0.0"/>
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<parent link="${name}_camera_mount"/>
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<child link="${name}_camera"/>
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</joint>
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</xacro:if>
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<xacro:unless value="${mount_is_root}">
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<xacro:property name="root_link" value="${name}_camera"/>
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<joint name="${name}_camera_mount_joint" type="fixed">
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<origin xyz="${mount_offset_x} ${mount_offset_y} ${mount_offset_z}" rpy="0.0 0.0 0.0"/>
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<parent link="${name}_camera"/>
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<child link="${name}_camera_mount"/>
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</joint>
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</xacro:unless>
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<joint name="${name}_camera_joint" type="fixed">
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<xacro:insert_block name="origin"/>
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<parent link="${parent}"/>
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<child link="${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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<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="${name}_camera_right"/>
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</joint>
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<link name="${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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</xacro:macro>
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</robot>

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