Merge pull request #12 from NVIDIA-ISAAC-ROS/release-3.1

Isaac ROS 3.1

Author: jaiveersinghNV

.gitmodules

@@ -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_segway_rmp</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Support for SegwayRMP.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_segway_rmp/package.xml

@@ -155,6 +155,7 @@ def generate_launch_description() -> LaunchDescription:
     args.add_arg('stereo_camera_configuration', None)
     args.add_arg('mode')
     args.add_arg('global_frame', 'odom')
+    args.add_arg('vslam_image_qos', 'SENSOR_DATA')
     args.add_arg('map_yaml_path')
     args.add_arg('enable_navigation')
     args.add_arg('enable_mission_client')
@@ -202,6 +203,7 @@ def generate_launch_description() -> LaunchDescription:
                 'enable_3d_lidar': enable_3d_lidar,
                 'enabled_2d_lidars': enabled_2d_lidars,
                 'global_frame': args.global_frame,
+                'vslam_image_qos': args.vslam_image_qos,
                 'invert_odom_to_base_tf': is_sim,
                 'disable_cuvslam': disable_cuvslam,
             },

nova_carter_bringup/launch/include/navigation_include.launch.py

@@ -90,6 +90,7 @@ def generate_launch_description() -> LaunchDescription:
     # String specifying the stereo camera configuration.
     args.add_arg('stereo_camera_configuration')
     args.add_arg('global_frame')
+    args.add_arg('vslam_image_qos')
     args.add_arg('disable_cuvslam', False)
     args.add_arg('disable_nvblox', False)
     actions = args.get_launch_actions()
@@ -131,6 +132,7 @@ def generate_launch_description() -> LaunchDescription:
             launch_arguments={
                 'perceptor_configuration': perceptor_configuration,
                 'global_frame': args.global_frame,
+                'vslam_image_qos': args.vslam_image_qos,
             },
         ))
 

nova_carter_bringup/launch/include/perceptor_include.launch.py

@@ -56,14 +56,21 @@ def generate_launch_description() -> LaunchDescription:
 
     # NOTE: If running in sim mode we do mapping in another frame to not clash with ground truth
     # coming out of Isaac Sim.
+    # NOTE: If running in sim mode we are setting the reliability policy of vslam to reliable
+    # as we were experiencing issues with the best effort policy
+    # (i.e. not able to synchronize input messages due to dropped images).
     global_frame = lu.if_else_substitution(is_sim, 'odom_vslam', 'odom')
+    vslam_image_qos = lu.if_else_substitution(is_sim, 'DEFAULT', 'SENSOR_DATA')
 
     # Add the navigation.
     actions.append(
         lu.include(
             'nova_carter_bringup',
             'launch/include/navigation_include.launch.py',
-            launch_arguments={'global_frame': global_frame},
+            launch_arguments={
+                'global_frame': global_frame,
+                'vslam_image_qos': vslam_image_qos,
+            },
         ))
 
     actions.append(

nova_carter_bringup/launch/navigation.launch.py

@@ -56,13 +56,18 @@ def generate_launch_description() -> LaunchDescription:
     # Add the perceptor (note that this also includes the hardware abstraction layer for now).
     # NOTE: If running in sim mode we do mapping in another frame to not clash with ground truth
     # coming out of Isaac Sim.
+    # NOTE: If running in sim mode we are setting the reliability policy of vslam to reliable
+    # as we were experiencing issues with the best effort policy
+    # (i.e. not able to synchronize input messages due to dropped images).
     global_frame = lu.if_else_substitution(is_sim, 'odom_vslam', 'odom')
+    vslam_image_qos = lu.if_else_substitution(is_sim, 'DEFAULT', 'SENSOR_DATA')
     actions.append(
         lu.include(
             'nova_carter_bringup',
             'launch/include/perceptor_include.launch.py',
             launch_arguments={
                 'global_frame': global_frame,
+                'vslam_image_qos': vslam_image_qos,
                 'disable_cuvslam': args.enable_wheel_odometry,
             },
         ))

nova_carter_bringup/launch/perceptor.launch.py

@@ -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>nova_carter_bringup</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>
     Launch files to run isaac ros apps on the Nova Carter robot.
   </description>

nova_carter_bringup/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>nova_carter_description</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Description of the nova carter robot</description>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>

nova_carter_description/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>nova_carter_docking</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>A docking solution and plugin for the Nova Carter robot</description>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>

nova_carter_docking/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>nova_carter_navigation</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>
      Configuration to use ROS2 Nav2 with the Nova Carter robot.
   </description>