Merge pull request #111 from NVIDIA-ISAAC-ROS/release-3.0

jaiveersinghNV · web-flow · commit 6c9354256059 · 2024-06-14T15:33:14.000-07:00
Isaac ROS 3.0.1
diff --git a/README.md b/README.md
@@ -54,8 +54,8 @@ The following tables provides timings for various functions of
             <th class="head">Dataset</th>
             <th class="head">Voxel Size (m)</th>
             <th class="head">Component</th>
-            <th class="head">x86_64 w/ 4090 Ti (Desktop)</th>
-            <th class="head">x86_64 w/ RTX3000 Ti (Laptop)</th>
+            <th class="head">x86_64 w/ 4090 (Desktop)</th>
+            <th class="head">x86_64 w/ RTX3500 Ada (Laptop)</th>
             <th class="head">AGX Orin</th>
         </tr>
     </thead>
@@ -64,53 +64,53 @@ The following tables provides timings for various functions of
             <td rowspan="4">Replica</td>
             <td rowspan="4">0.05</td>
             <td>TSDF</td>
-            <td>0.4 ms</td>
-            <td>3.6 ms</td>
-            <td>1.6 ms</td>
+            <td>0.2 ms</td>
+            <td>0.2 ms</td>
+            <td>0.8 ms</td>
         </tr>
         <tr class="row-odd">
             <td>Color</td>
-            <td>1.7 ms</td>
-            <td>2.5 ms</td>
-            <td>4.2 ms</td>
+            <td>0.4 ms</td>
+            <td>0.5 ms</td>
+            <td>1.2 ms</td>
         </tr>
         <tr class="row-even">
             <td>Meshing</td>
-            <td>1.6 ms</td>
-            <td>4.0 ms</td>
-            <td>12.3 ms</td>
+            <td>0.8 ms</td>
+            <td>1.1 ms</td>
+            <td>2.5 ms</td>
         </tr>
         <tr class="row-odd">
             <td>ESDF</td>
-            <td>1.9 ms</td>
-            <td>8.4 ms</td>
-            <td>8.4 ms</td>
+            <td>0.7 ms</td>
+            <td>0.8 ms</td>
+            <td>1.7 ms</td>
         </tr>
         <tr class="row-even">
             <td rowspan="4">Redwood</td>
             <td rowspan="4">0.05</td>
             <td>TSDF</td>
             <td>0.2 ms</td>
             <td>0.2 ms</td>
-            <td>0.5 ms</td>
+            <td>0.6 ms</td>
         </tr>
         <tr class="row-odd">
             <td>Color</td>
+            <td>0.4 ms</td>
+            <td>0.5 ms</td>
             <td>1.1 ms</td>
-            <td>1.6 ms</td>
-            <td>2.4 ms</td>
         </tr>
         <tr class="row-even">
             <td>Meshing</td>
-            <td>0.6 ms</td>
-            <td>1.5 ms</td>
-            <td>2.7 ms</td>
+            <td>0.4 ms</td>
+            <td>0.5 ms</td>
+            <td>1.1 ms</td>
         </tr>
         <tr class="row-odd">
             <td>ESDF</td>
-            <td>1.5 ms</td>
-            <td>2.6 ms</td>
-            <td>4.2 ms</td>
+            <td>0.8 ms</td>
+            <td>1.1 ms</td>
+            <td>1.7 ms</td>
         </tr>
     </tbody>
 </table>
diff --git a/isaac_ros_nvblox/package.xml b/isaac_ros_nvblox/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nvblox</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Nvblox ROS 2 metapackage</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_examples/nvblox_examples_bringup/package.xml b/nvblox_examples/nvblox_examples_bringup/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_examples_bringup</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Launchfiles for nvblox examples</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_examples/nvblox_image_padding/package.xml b/nvblox_examples/nvblox_image_padding/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_image_padding</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Image padding for nvblox_ros</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_examples/realsense_splitter/package.xml b/nvblox_examples/realsense_splitter/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>realsense_splitter</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Splits realsense outputs based on emitter status.</description>
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>
diff --git a/nvblox_examples/semantic_label_conversion/package.xml b/nvblox_examples/semantic_label_conversion/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>semantic_label_conversion</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Package to convert semantic labels coming from Isaac Sim to consistent label images</description>
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
   <license>NVIDIA Isaac ROS Software License</license>
diff --git a/nvblox_msgs/package.xml b/nvblox_msgs/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_msgs</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>ROS 2 messages for Nvblox types</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_nav2/package.xml b/nvblox_nav2/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_nav2</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>NVBlox ROS 2 Nav2 interface</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_ros/package.xml b/nvblox_ros/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_ros</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>NVBlox ROS 2 interface</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_ros/src/lib/nvblox_node.cpp b/nvblox_ros/src/lib/nvblox_node.cpp
@@ -625,7 +625,7 @@ void NvbloxNode::processMesh()
         << ". Mesh not published");
     return;
   }
-  bool serialize_full_mesh = true;
+  bool serialize_full_mesh = false;
   size_t new_subscriber_count = mesh_publisher_->get_subscription_count();
   // In case we have new subscribers, publish the ENTIRE map once.
   nvblox_msgs::msg::Mesh mesh_msg;
@@ -662,9 +662,10 @@ void NvbloxNode::processMesh()
 
     // Publish mesh blocks from serialized mesh
     if (!serialized_mesh->block_indices.empty()) {
+      const bool resend_full_mesh = serialize_full_mesh;
       conversions::meshMessageFromSerializedMesh(
         serialized_mesh, timestamp, params_.global_frame.get(),
-        static_mapper_->mesh_layer().block_size(), serialize_full_mesh, &mesh_msg);
+        static_mapper_->mesh_layer().block_size(), resend_full_mesh, &mesh_msg);
       mesh_publisher_->publish(mesh_msg);
       timing::Rates::tick("ros/mesh");
     }
diff --git a/nvblox_ros_common/package.xml b/nvblox_ros_common/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_ros_common</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Utilities used across the isaac_ros_nvblox repo</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/nvblox_ros_python_utils/package.xml b/nvblox_ros_python_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_ros_python_utils</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Python utilities used across nvblox_ros</description>
   <maintainer email="isaac-ros-maintainers@nvidia.com">alex</maintainer>
   <license>Apache-2.0</license>
diff --git a/nvblox_rviz_plugin/package.xml b/nvblox_rviz_plugin/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nvblox_rviz_plugin</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>RViz visualization plugin for Nvblox meshes</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
