Merge pull request #2 from NVIDIA-ISAAC-ROS/release-2.1

Isaac ROS 2.1.0

Author: hemalshahNV

carter_navigation/foxglove_layouts/virtual_joystick_owl.json

@@ -0,0 +1,137 @@
+{
+  "configById": {
+    "Image!hcyx98": {
+      "cameraState": {
+        "distance": 20,
+        "perspective": true,
+        "phi": 60,
+        "target": [
+          0,
+          0,
+          0
+        ],
+        "targetOffset": [
+          0,
+          0,
+          0
+        ],
+        "targetOrientation": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "thetaOffset": 45,
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {},
+      "transforms": {},
+      "topics": {
+        "/plan": {
+          "visible": false
+        },
+        "/trajectories": {
+          "visible": false
+        },
+        "/back/scan": {
+          "visible": false
+        },
+        "/front/scan": {
+          "visible": false
+        },
+        "/scan": {
+          "visible": false
+        },
+        "/global_costmap/costmap": {
+          "visible": false
+        },
+        "/local_costmap/costmap": {
+          "visible": false
+        },
+        "/map": {
+          "visible": false
+        },
+        "/local_costmap/voxel_grid": {
+          "visible": false
+        },
+        "/pointcloud": {
+          "visible": false
+        },
+        "/global_costmap/published_footprint": {
+          "visible": false
+        },
+        "/local_costmap/published_footprint": {
+          "visible": false
+        },
+        "/amcl_pose": {
+          "visible": false
+        },
+        "/goal_pose": {
+          "visible": false
+        },
+        "/initialpose": {
+          "visible": false
+        },
+        "/move_base_simple/goal": {
+          "visible": false
+        },
+        "/plan_smoothed": {
+          "visible": false
+        },
+        "/transformed_global_plan": {
+          "visible": false
+        },
+        "/unsmoothed_plan": {
+          "visible": false
+        }
+      },
+      "layers": {},
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26179939
+      },
+      "imageMode": {
+        "imageTopic": "/owl_front/left/image_resized"
+      }
+    },
+    "Teleop!2422nyg": {
+      "topic": "/virtual_joy/cmd_vel",
+      "publishRate": 1,
+      "upButton": {
+        "field": "linear-x",
+        "value": 0.5
+      },
+      "downButton": {
+        "field": "linear-x",
+        "value": -0.5
+      },
+      "leftButton": {
+        "field": "angular-z",
+        "value": 0.5
+      },
+      "rightButton": {
+        "field": "angular-z",
+        "value": -0.5
+      }
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": {
+    "speed": 1
+  },
+  "layout": {
+    "first": "Image!hcyx98",
+    "second": "Teleop!2422nyg",
+    "direction": "row",
+    "splitPercentage": 79.62239583333334
+  }
+}

carter_navigation/launch/include/front_hawk_ess_nvblox.launch.py

@@ -19,15 +19,19 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch_ros.actions import LoadComposableNodes, Node
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch.substitutions import LaunchConfiguration
 
 
-def generate_launch_description():
+def launch_setup(context):
     # Check if ESS model is available
-    models_dir_path = os.path.dirname(
-        os.path.realpath(__file__))+'/../../models'
-    engine_file_path = models_dir_path+'/ess.engine'
+    engine_file_path = LaunchConfiguration('engine_file_path').perform(context)
+    if not engine_file_path:
+        models_dir_path = os.path.dirname(
+            os.path.realpath(__file__))+'/../../models'
+        engine_file_path = models_dir_path+'/ess.engine'
     if not os.path.isfile(engine_file_path):
         raise Exception(
             f'ESS engine file not found at : {engine_file_path}.'
@@ -170,4 +174,14 @@ def generate_launch_description():
         ]
     )
 
-    return LaunchDescription([load_hawk_ess_nvblox])
+    return [load_hawk_ess_nvblox]
+
+def generate_launch_description():
+    launch_args = [
+        DeclareLaunchArgument(
+            'engine_file_path',
+            default_value='',
+            description='The absolute path to the ESS engine plan.')
+    ]
+    return LaunchDescription(
+        launch_args + [OpaqueFunction(function=launch_setup)])

carter_navigation/package.xml

@@ -33,7 +33,6 @@
   <exec_depend>nav2_dwb_controller</exec_depend>
   <exec_depend>nav2_lifecycle_manager</exec_depend>
   <exec_depend>nav2_map_server</exec_depend>
-  <exec_depend>nav2_recoveries</exec_depend>
   <exec_depend>nav2_planner</exec_depend>
   <exec_depend>nav2_msgs</exec_depend>
   <exec_depend>nav2_navfn_planner</exec_depend>

carter_navigation/params/carter_nav2.yaml

@@ -83,22 +83,22 @@ slam_toolbox:
 amcl:
   ros__parameters:
     use_sim_time: True
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
+    alpha1: 0.1
+    alpha2: 0.1
+    alpha3: 0.1
+    alpha4: 0.1
+    alpha5: 0.1
     base_frame_id: "base_link"
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
     beam_skip_threshold: 0.3
     do_beamskip: false
     global_frame_id: "map"
     lambda_short: 0.1
-    laser_likelihood_max_dist: 2.0
+    laser_likelihood_max_dist: 4.0
     laser_max_range: 100.0
     laser_min_range: -1.0
-    laser_model_type: "likelihood_field"
+    laser_model_type: "beam"
     max_beams: 360
     max_particles: 2000
     min_particles: 500
@@ -110,14 +110,14 @@ amcl:
     resample_interval: 1
     robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
-    sigma_hit: 0.2
+    sigma_hit: 0.1
     tf_broadcast: true
     transform_tolerance: 1.0
     update_min_a: 0.2
     update_min_d: 0.25
     z_hit: 0.5
     z_max: 0.05
-    z_rand: 0.5
+    z_rand: 0.4
     z_short: 0.05
     scan_topic: scan
 
@@ -594,4 +594,4 @@ velocity_smoother:
     odom_topic: "odom"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
-    velocity_timeout: 1.0
+    velocity_timeout: 1.0

carter_navigation/params/mux.yaml

@@ -8,4 +8,8 @@ twist_mux:
       nav2:
         topic: cmd_vel
         timeout: 0.5
-        priority: 50
+        priority: 50
+      virtual_joy:
+        topic: virtual_joy/cmd_vel
+        timeout: 0.5
+        priority: 60

nova_carter.repos

@@ -62,4 +62,4 @@ repositories:
   isaac_ros_depth_segmentation:
     type: git
     url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_depth_segmentation.git
-    version: main
+    version: main

segway_rmp/isaac_ros_segway_rmp/config/segway_rmp_node.yaml

@@ -90,6 +90,10 @@ components:
   parameters:
     transmitter: tx_ego_motion
     recess_period: 100Hz
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: allocator
+    min_blocks: 1
 ---
 name: sink_odometry
 components: