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Merge pull request #50 from NVIDIA-ISAAC-ROS/release-3.1
Isaac ROS 3.1
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‎README.md‎

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@@ -115,4 +115,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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## Latest
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Update 2024-05-30: Added FoundationPose pose estimation package
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Update 2024-09-26: Update for ZED compatibility

‎isaac_ros_centerpose/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_centerpose</name>
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<version>3.0.1</version>
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<version>3.1.0</version>
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<description>CenterPose: Pose Estimation using Deep Learning</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_dope/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_dope</name>
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<version>3.0.1</version>
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<version>3.1.0</version>
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<description>Deep learning based pose estimation</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim_tracking.launch.py‎

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)
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# Convert Detection2DArray from RT-DETR to a binary segmentation mask
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detection2_d_array_filter_node = ComposableNode(
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name='detection2_d_array_filter',
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package='isaac_ros_foundationpose',
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plugin='nvidia::isaac_ros::foundationpose::Detection2DArrayFilter',
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remappings=[('detection2_d_array', 'detections_output')]
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)
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detection2_d_to_mask_node = ComposableNode(
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name='detection2_d_to_mask',
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package='isaac_ros_foundationpose',
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rtdetr_preprocessor_node,
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tensor_rt_node,
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rtdetr_decoder_node,
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detection2_d_array_filter_node,
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detection2_d_to_mask_node,
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resize_mask_node,
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resize_left_ess_size,

‎isaac_ros_foundationpose/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_foundationpose</name>
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<version>3.0.1</version>
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<version>3.1.0</version>
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<description>FoundationPose 6D pose estimation</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_foundationpose/rviz/foundationpose_zed.rviz‎

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Panels:
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- Class: rviz_common/Displays
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Help Height: 138
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5001519322395325
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Tree Height: 624
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_default_plugins/Camera
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Enabled: true
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Far Plane Distance: 100
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Image Rendering: background and overlay
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Name: Camera
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Overlay Alpha: 0.5
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rgb/image_rect_color_viz
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Value: true
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Visibility:
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Detection3DArray: true
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Grid: true
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Image: true
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Value: true
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Zoom Factor: 1
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- Alpha: 1
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Class: vision_msgs_rviz_plugins/Detection3DArray
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ConfigPath: ""
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Enabled: true
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Line Width: 0.05000000074505806
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Name: Detection3DArray
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Namespaces:
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bounding_box: true
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Only Edge: false
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Show Score: false
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Topic:
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Depth: 1
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /output
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rt_detr_segmentation
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Value: false
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- Class: rviz_default_plugins/Image
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Enabled: false
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /segmentation
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Value: false
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: zed2_camera_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 10
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: -0.9897971153259277
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.7003983855247498
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Saved: ~
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Window Geometry:
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Camera:
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collapsed: false
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Displays:
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collapsed: false
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Height: 2272
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Hide Left Dock: false
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000006ea000007f1fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000690000035e0000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000003d3000004870000004500fffffffb0000000a0049006d006100670065000000068f000000d10000004500fffffffb0000000a0049006d006100670065000000074f0000010b0000004500ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f10000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7400000051fc0100000002fb0000000800540069006d0065010000000000000e740000046000fffffffb0000000800540069006d006501000000000000045000000000000000000000077e000007f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 3700
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X: 140
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Y: 54

‎isaac_ros_gxf_extensions/gxf_isaac_centerpose/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>gxf_isaac_centerpose</name>
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<version>3.0.1</version>
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<version>3.1.0</version>
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<description>GXF extension containing CenterPose pose estimation related components.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_gxf_extensions/gxf_isaac_dope/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>gxf_isaac_dope</name>
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<version>3.0.1</version>
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<version>3.1.0</version>
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<description>GXF extension containing CenterPose pose estimation related components.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎isaac_ros_gxf_extensions/gxf_isaac_foundationpose/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>gxf_isaac_foundationpose</name>
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<version>3.0.1</version>
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<version>3.1.0</version>
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<description>GXF extension containing Foundation Pose estimation related components.</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

‎resources/rosbags/foundationpose_tracking.bag/foundationpose_tracking.bag_0.db3‎

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