Isaac ROS 3.2

Author: jaiveersinghNV

docker/Dockerfile.nova_carter

@@ -7,7 +7,7 @@
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 #####################################################################################
 
-ARG BASE_IMAGE
+ARG BASE_IMAGE="ubuntu:22.04"
 FROM ${BASE_IMAGE} as base_image
 
 # Install prerequisites for nova_carter
@@ -22,9 +22,9 @@ RUN apt-get update && apt-get install -y \
 && apt-get clean
 
 # Install spatio_temporal_voxel_layer dependencies
-RUN apt-get update && apt-get install -y \    
-    ros-humble-twist-mux \ 
-    ros-humble-joy-linux \ 
+RUN apt-get update && apt-get install -y \
+    ros-humble-twist-mux \
+    ros-humble-joy-linux \
     ros-humble-teleop-twist-joy \
     ros-humble-nav2* \
     ros-humble-nav2-bringup \
@@ -38,7 +38,7 @@ FROM base_image as use_cyclone_dds_arm64
 # Install and setup cyclone DDS
 RUN apt-get update && apt-get install -y ros-humble-rmw-cyclonedds-cpp
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-ENV CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces><NetworkInterface name="eth0" /></Interfaces></General></Domain></CycloneDDS>'
+ENV CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces><NetworkInterface name="eno1" /></Interfaces></General></Domain></CycloneDDS>'
 
 ## Else:
 FROM base_image as use_cyclone_dds_amd64

isaac_ros_segway_rmp/CMakeLists.txt

@@ -139,4 +139,10 @@ if(BUILD_TESTING)
 
 endif()
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE launch config)

isaac_ros_segway_rmp/launch/isaac_ros_segway_rmp.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
         plugin='nvidia::isaac_ros::segway_rmp::SegwayRMPNode',
         name='segway_rmp',
         parameters=[{
-                'enable_statistics': True,
+                'enable_diagnostics': True,
                 'topics_list': ['odom'],
                 'expected_fps_list': [40.0],
                 'jitter_tolerance_us': 200000

isaac_ros_segway_rmp/package.xml

@@ -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>3.1.0</version>
+  <version>3.2.0</version>
   <description>Support for SegwayRMP.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
@@ -51,6 +51,7 @@
   <depend>tf2_ros</depend>
 
   <build_depend>gxf_isaac_gems</build_depend>
+  <build_depend>isaac_ros_common</build_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

nova_carter.repos

@@ -1,4 +1,8 @@
 repositories:
+  isaac_manipulator:
+    type: git
+    url: https://github.com/NVIDIA-ISAAC-ROS/isaac_manipulator.git
+    version: main
   isaac_perceptor:
     type: git
     url: https://github.com/NVIDIA-ISAAC-ROS/isaac_perceptor.git
@@ -35,6 +39,10 @@ repositories:
     type: git
     url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation.git
     version: main
+  isaac_ros_compression:
+    type: git
+    url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_compression.git
+    version: main
   isaac_ros_map_localization:
     type: git
     url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_map_localization.git
@@ -59,10 +67,14 @@ repositories:
     type: git
     url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam.git
     version: main
+  isaac_ros_mapping_and_localization:
+    type: git
+    url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_mapping_and_localization.git
+    version: main
   magic_enum:
     type: git
     url: https://github.com/Neargye/magic_enum.git
-    version: master
+    version: v0.9.6
   opennav_docking:
     type: git
     url: https://github.com/open-navigation/opennav_docking.git
@@ -75,3 +87,7 @@ repositories:
     type: git
     url: https://github.com/SteveMacenski/spatio_temporal_voxel_layer
     version: ros2
+  foxglove/schemas:
+    type: git
+    url: https://github.com/foxglove/schemas
+    version: main

nova_carter_bringup/CMakeLists.txt

@@ -31,4 +31,10 @@ if(BUILD_TESTING)
   add_subdirectory(test)
 endif()
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE launch)

nova_carter_bringup/foxglove_layouts/nova_carter_navigation.json

@@ -30,7 +30,8 @@
       "followTf": "map",
       "scene": {
         "labelScaleFactor": 0.99,
-        "backgroundColor": "#3c3c3c"
+        "backgroundColor": "#3c3c3c",
+        "meshUpAxis": "z_up"
       },
       "transforms": {
         "frame:back_2d_lidar": {