Isaac ROS 2.0.0

Author: hemalshahNV

.gitattributes

@@ -22,6 +22,7 @@
 # ROS Bags
 **/resources/**/*.db3 filter=lfs diff=lfs merge=lfs -text
 **/resources/**/*.yaml filter=lfs diff=lfs merge=lfs -text
+**/resources/**/*.bag filter=lfs diff=lfs merge=lfs -text
 
 # DNN Model files
 *.onnx filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,27 +15,45 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.23.2)
-project(isaac_ros_centerpose LANGUAGES PYTHON)
+cmake_minimum_required(VERSION 3.22.1)
+project(isaac_ros_centerpose LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_auto REQUIRED)
-find_package(ament_cmake_python REQUIRED)
-find_package(rclpy REQUIRED)
 ament_auto_find_build_dependencies()
 
-# Install Python modules
-ament_python_install_package(${PROJECT_NAME})
+# Decoder node
+ament_auto_add_library(centerpose_decoder_node SHARED src/centerpose_decoder_node.cpp)
+rclcpp_components_register_nodes(centerpose_decoder_node "nvidia::isaac_ros::centerpose::CenterPoseDecoderNode")
+set(node_plugins "${node_plugins}nvidia::isaac_ros::centerpose::CenterPoseDecoderNode;$<TARGET_FILE:centerpose_decoder_node>\n")
 
-# Install Python executables
-install(PROGRAMS
-  isaac_ros_centerpose/CenterPoseDecoder.py
-  isaac_ros_centerpose/CenterPoseDecoderUtils.py
-  DESTINATION lib/${PROJECT_NAME}
-)
+# Visualizer node
+ament_auto_add_library(centerpose_visualizer_node SHARED src/centerpose_visualizer_node.cpp)
+rclcpp_components_register_nodes(centerpose_visualizer_node "nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode")
+set(node_plugins "${node_plugins}nvidia::isaac_ros::centerpose::CenterPoseVisualizerNode;$<TARGET_FILE:centerpose_visualizer_node>\n")
 
-ament_auto_package()
+### Install extensions built from source
+
+# CenterPose
+add_subdirectory(gxf/centerpose)
+install(TARGETS gxf_centerpose DESTINATION share/${PROJECT_NAME}/gxf/lib/centerpose)
+
+### End extensions
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # The FindPythonInterp and FindPythonLibs modules are removed
+  if(POLICY CMP0148)
+    cmake_policy(SET CMP0148 OLD)
+  endif()
+
+  find_package(launch_testing_ament_cmake REQUIRED)
+  add_launch_test(test/test_centerpose_pol.py TIMEOUT "600")
+  add_launch_test(test/test_centerpose_pol_triton.py TIMEOUT "600")
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE config launch)