Merge pull request #3 from NVIDIA-ISAAC-ROS/hotfix-release-2.1-1

Update Carter launch files

Author: jaiveersinghNV

carter_navigation/launch/include/front_hawk_ess_nvblox.launch.py

@@ -142,7 +142,13 @@ def launch_setup(context):
         ]
     )
 
-    nvblox_config = os.path.join(
+    nvblox_base_config = os.path.join(
+        get_package_share_directory('nvblox_examples_bringup'), 
+        'config', 
+        'nvblox', 
+        'nvblox_base.yaml'
+    )
+    nvblox_carter_config = os.path.join(
         get_package_share_directory('carter_navigation'),
         'params',
         'nvblox_carter.yaml'
@@ -157,7 +163,7 @@ def launch_setup(context):
                     ('depth/camera_info', 'left/camera_info_resized'),
                     ('color/image', 'left/image_resized'),
                     ('color/camera_info', 'left/camera_info_resized')],
-        parameters=[nvblox_config]
+        parameters=[nvblox_base_config, nvblox_carter_config]
     )
 
     load_hawk_ess_nvblox = LoadComposableNodes(

carter_navigation/launch/include/segway.launch.py

@@ -18,27 +18,38 @@
 from launch import LaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch.actions import DeclareLaunchArgument, TimerAction
-from launch_ros.actions import LoadComposableNodes, Node
+from launch_ros.actions import ComposableNodeContainer, Node
 from launch_ros.descriptions import ComposableNode
 
 
 def generate_launch_description():
     segway_rmp_node = ComposableNode(
         package='isaac_ros_segway_rmp',
         plugin='nvidia::isaac_ros::segway_rmp::SegwayRMPNode',
-        name='segway_rmp',         
+        name='segway_rmp',
         remappings=[
             ('/cmd_vel', '/mux/cmd_vel')
-        ]
+        ],
+        parameters=[{
+                'enable_statistics': True,
+                'topics_list': ['odom'],
+                'expected_fps_list': [40.0],
+                'jitter_tolerance_us': 50000
+            }]
     )
 
-    load_segway = LoadComposableNodes(
-        target_container='carter_container',
+    segway_rmp_container = ComposableNodeContainer(
+        package='rclcpp_components',
+        name='segway_rmp_container',
+        namespace='',
+        prefix="nice -n 1",
+        executable='component_container_mt',
         composable_node_descriptions=[
-            segway_rmp_node
-        ]
+            segway_rmp_node,
+        ],
+        output='screen'
     )
 
     return LaunchDescription([
-        load_segway
+        segway_rmp_container
     ])

carter_navigation/launch/nav2.launch.py

@@ -42,7 +42,7 @@ def generate_launch_description():
     launch_owls_arg = DeclareLaunchArgument('launch_owls', default_value=launch_owls,
                                             description='Launch Owl Cameras')
     launch_nvblox_pipeline = LaunchConfiguration(
-        'launch_nvblox_pipeline', default=False)
+        'launch_nvblox_pipeline', default=True)
     launch_nvblox_pipeline_arg = DeclareLaunchArgument(
         'launch_nvblox_pipeline', default_value=launch_nvblox_pipeline,
         description='Launch Hawk Camera + ESS Depth + Isaac ROS Nvblox')
@@ -141,6 +141,7 @@ def generate_launch_description():
         name='carter_container',
         package='rclcpp_components',
         executable='component_container_isolated',
+        prefix="nice -n 2",
         parameters=[params_file],
         output='screen')
 

carter_navigation/params/carter_nav2.yaml

@@ -383,7 +383,7 @@ local_costmap:
         enabled: True
         max_obstacle_distance: 1.0
         inflation_distance: 0.4
-        nvblox_map_slice_topic: "/nvblox_node/map_slice"
+        nvblox_map_slice_topic: "/hawk_front/nvblox_node/static_map_slice"
       always_send_full_costmap: True
 
 global_costmap:
@@ -474,7 +474,7 @@ global_costmap:
         enabled: True
         max_obstacle_distance: 1.0
         inflation_distance: 0.4
-        nvblox_map_slice_topic: "/nvblox_node/map_slice"
+        nvblox_map_slice_topic: "/hawk_front/nvblox_node/static_map_slice"
       always_send_full_costmap: True
 
 map_server:

carter_navigation/params/nvblox_carter.yaml

@@ -1,67 +1,25 @@
 /**:
   ros__parameters:
-    # miscellaneous
     global_frame: map
-    voxel_size: 0.05
-    use_tf_transforms: true
-    # esdf settings
-    compute_esdf: true
-    esdf_update_rate_hz: 10.0
-    esdf_2d: true
-    esdf_distance_slice: true
-    esdf_slice_height: 0.5
-    esdf_2d_min_height: 0.5
-    esdf_2d_max_height: 1.0
-    # mesh settings
-    compute_mesh: true
-    mesh_update_rate_hz: 5.0
-    # color settings
-    use_color: true
-    max_color_update_hz: 5.0
-    # depth settings
-    use_depth: true
-    max_depth_update_hz: 30.0
-    # lidar settings
+    # Lidar settings
     use_lidar: false
-    max_lidar_update_hz: 100.0
-    lidar_width: 1800
-    lidar_height: 31
-    # static occupancy
-    use_static_occupancy_layer: false # tsdf if false
-    occupancy_publication_rate_hz: 2.0
-    # Input queues
-    max_poll_rate_hz: 100.0
-    maximum_sensor_message_queue_length: 30
+    # QoS settings
+    depth_qos: "SENSOR_DATA"
+    color_qos: "SENSOR_DATA"
     # Map clearing settings
-    map_clearing_radius_m: -1.0 # no map clearing if < 0.0
     map_clearing_frame_id: "base_link"
-    clear_outside_radius_rate_hz: 1.0
-    # QoS settings
-    depth_qos: "SYSTEM_DEFAULT"
-    color_qos: "SYSTEM_DEFAULT"
     # Rviz visualization
     slice_visualization_attachment_frame_id: "base_link"
-    slice_visualization_side_length: 10.0
 
-    mapper:
-      # tsdf or occupancy integrator
-      projective_integrator_max_integration_distance_m: 7.0
-      projective_integrator_truncation_distance_vox: 4.0
-      lidar_projective_integrator_max_integration_distance_m: 10.0
-      # tsdf integrator
-      weighting_mode: "inverse_square" # applies to color integrator as well
-      tsdf_integrator_max_weight: 5.0
-      # occupancy integrator
-      free_region_occupancy_probability: 0.45
-      occupied_region_occupancy_probability: 0.55
-      unobserved_region_occupancy_probability: 0.5
-      occupied_region_half_width_m: 0.1
-      # esdf integrator
-      esdf_integrator_min_weight: 0.0001
-      esdf_integrator_max_distance_m: 2.0
-      esdf_integrator_max_site_distance_vox: 5.0
-      # mesh integrator
-      mesh_integrator_min_weight: 0.0001
-      mesh_integrator_weld_vertices: true
-      # color integrator
-      color_integrator_max_integration_distance_m: 7.0
+    static_mapper:
+      esdf_slice_height: 0.1
+      esdf_slice_min_height: 0.1
+      esdf_slice_max_height: 0.65
+      # do not send ceiling:
+      mesh_streamer_exclusion_height_m: 1.4
+      mesh_streamer_exclusion_radius_m: 5.0
+
+    dynamic_mapper:
+      esdf_slice_height: 0.0
+      esdf_slice_min_height: 0.1
+      esdf_slice_max_height: 0.65

segway_rmp/isaac_ros_segway_rmp/launch/isaac_ros_segway_rmp.launch.py

@@ -24,12 +24,19 @@ def generate_launch_description():
     segway_rmp_node = ComposableNode(
         package='isaac_ros_segway_rmp',
         plugin='nvidia::isaac_ros::segway_rmp::SegwayRMPNode',
-        name='segway_rmp')
+        name='segway_rmp',
+        parameters=[{
+                'enable_statistics': True,
+                'topics_list': ['odom'],
+                'expected_fps_list': [40.0],
+                'jitter_tolerance_us': 200000 
+            }])
 
     segway_rmp_container = ComposableNodeContainer(
         package='rclcpp_components',
         name='segway_rmp_container',
         namespace='',
+        prefix="nice -n 1",
         executable='component_container_mt',
         composable_node_descriptions=[
             segway_rmp_node,