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jaiveersinghNVjaiveersinghNV
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Isaac ROS 3.2
1 parent f94e333 commit 9963f54

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+158
-181
lines changed

‎.gitattributes‎

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**/resources/**/*.yaml filter=lfs diff=lfs merge=lfs -text
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**/resources/**/*.bag filter=lfs diff=lfs merge=lfs -text
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# FIXME: Only for DNN packages
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# DNN Model files
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*.onnx filter=lfs diff=lfs merge=lfs -text
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‎.gitignore‎

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# Ignore all pycache files
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**/__pycache__/**
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# FIXME: Only for DNN-based packages
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# Ignore TensorRT plan files
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*.plan
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*.engine

‎docker/Dockerfile.nova_developer_kit‎

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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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#####################################################################################
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ARG BASE_IMAGE
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ARG BASE_IMAGE="ubuntu:22.04"
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FROM ${BASE_IMAGE}
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# Install and setup cyclone DDS

‎nova_developer_kit.repos‎

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type: git
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url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline.git
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version: main
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isaac_ros_compression:
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type: git
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url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_compression.git
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version: main
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isaac_ros_image_segmentation:
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type: git
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url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation.git
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type: git
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url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam.git
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version: main
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isaac_ros_mapping_and_localization:
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type: git
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url: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_mapping_and_localization.git
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version: main
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magic_enum:
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type: git
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url: https://github.com/Neargye/magic_enum.git
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version: master
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version: v0.9.6

‎nova_developer_kit_bringup/CMakeLists.txt‎

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@@ -27,6 +27,14 @@ ament_auto_find_build_dependencies()
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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add_subdirectory(test)
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endif()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE launch)

‎nova_developer_kit_bringup/foxglove_layouts/nova_developer_kit_perceptor.json‎

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"3D!pkwsig": {
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"cameraState": {
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"perspective": true,
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"distance": 5.547791462416275,
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"phi": 66.31869920457885,
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"thetaOffset": 91.56089609591699,
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"distance": 5.839780486753937,
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"phi": 66.31869920457889,
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"thetaOffset": 91.56089609591737,
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"targetOffset": [
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1.4519825693569217,
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-0.19168891677241376,
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-7.209386411596498e-16
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1.3759892372413398,
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-0.05553825129053335,
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-7.215336567244841e-16
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],
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"target": [
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0,
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"/unet/colored_segmentation_mask": {
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"visible": true
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},
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"/nvblox_human_node/color_layer": {
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"/nvblox_node/color_layer": {
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"visible": true
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},
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"/nvblox_human_node/human_voxels": {
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"/nvblox_node/human_voxels": {
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"visible": true
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},
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"/initialpose": {
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"visible": false
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}
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},
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"layers": {},
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"poseEstimateThetaDeviation": 0.26179939
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},
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"imageMode": {}
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},
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"Image!q55ga8": {
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"cameraState": {
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"distance": 20,
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"perspective": true,
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"phi": 60,
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"target": [
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0,
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0,
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0
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],
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"targetOffset": [
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0,
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0,
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0
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],
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"targetOrientation": [
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0,
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0,
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0,
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1
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],
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"thetaOffset": 45,
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"fovy": 45,
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"near": 0.5,
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"far": 5000
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},
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"followMode": "follow-pose",
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"scene": {
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"transforms": {
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"showLabel": true
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}
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},
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"transforms": {},
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"topics": {},
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"layers": {},
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"publish": {
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"type": "point",
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"poseTopic": "/move_base_simple/goal",
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"pointTopic": "/clicked_point",
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"poseEstimateTopic": "/initialpose",
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"poseEstimateXDeviation": 0.5,
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"poseEstimateYDeviation": 0.5,
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"poseEstimateThetaDeviation": 0.26179939
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},
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"imageMode": {
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"imageTopic": "/front_stereo_camera/left/image_resized_grayscale"
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}
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}
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},
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"globalVariables": {},
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"userNodes": {},
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"playbackConfig": {
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"speed": 1
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},
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"layout": {
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"first": "3D!pkwsig",
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"second": "Image!q55ga8",
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"direction": "column",
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"splitPercentage": 65.66940912490651
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}
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"layout": "3D!pkwsig"
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}

‎nova_developer_kit_bringup/foxglove_layouts/nova_developer_kit_perceptor_with_people.json‎

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"colorMap": "rainbow",
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"pointSize": 7
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},
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"/nvblox_human_node/mesh": {
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"/nvblox_node/mesh": {
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"visible": true
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},
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"/nvblox_human_node/static_esdf_pointcloud": {
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"/nvblox_node/static_esdf_pointcloud": {
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"visible": true,
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"colorField": "intensity",
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"colorMode": "colormap",
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"colorMap": "rainbow",
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"pointSize": 8
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},
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"/nvblox_human_node/human_voxels": {
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"/nvblox_node/human_voxels": {
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"visible": false
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},
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"/nvblox_human_node/dynamic_occupancy_layer": {
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"/nvblox_node/dynamic_occupancy_layer": {
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"visible": true
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},
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"/nvblox_human_node/combined_esdf_pointcloud": {
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"/nvblox_node/combined_esdf_pointcloud": {
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"visible": false,
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"colorField": "intensity",
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"colorMode": "colormap",

‎nova_developer_kit_bringup/launch/include/perceptor_include.launch.py‎

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# flake8: noqa: F403,F405
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import isaac_ros_launch_utils as lu
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from isaac_ros_launch_utils.all_types import *
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# Camera config string is a subset of:
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# - driver,rectify,resize,ess_full,ess_light,ess_skip_frames,cuvslam,nvblox
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perceptor_configurations = {
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'front_configuration': {
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'front_stereo_camera': 'driver,rectify,resize,ess_full,cuvslam,nvblox',
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'back_stereo_camera': '',
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'left_stereo_camera': '',
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'right_stereo_camera': '',
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},
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'front_people_configuration': {
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'front_stereo_camera': 'driver,rectify,resize,ess_full,cuvslam,nvblox_people',
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'back_stereo_camera': '',
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'left_stereo_camera': '',
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'right_stereo_camera': '',
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},
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'front_left_right_configuration': {
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'front_stereo_camera': 'driver,rectify,resize,ess_full,cuvslam,nvblox',
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'back_stereo_camera': '',
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'left_stereo_camera': 'driver,rectify,resize,ess_light,ess_skip_frames,cuvslam,nvblox',
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'right_stereo_camera': 'driver,rectify,resize,ess_light,ess_skip_frames,cuvslam,nvblox',
42-
},
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'front_left_right_people_configuration': {
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'front_stereo_camera': 'driver,rectify,resize,ess_full,cuvslam,nvblox_people',
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'back_stereo_camera': '',
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'left_stereo_camera': 'driver,rectify,resize,ess_light,ess_skip_frames,cuvslam,nvblox',
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'right_stereo_camera': 'driver,rectify,resize,ess_light,ess_skip_frames,cuvslam,nvblox',
48-
},
49-
}
21+
import isaac_ros_perceptor_python_utils.launch_utils as pu
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5123

5224
def generate_launch_description() -> LaunchDescription:
5325
args = lu.ArgumentContainer()
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5527
# String specifying the stereo camera configuration.
5628
args.add_arg('stereo_camera_configuration')
29+
args.add_arg('nvblox_global_frame', 'odom')
30+
args.add_arg('vslam_map_frame', 'map')
31+
args.add_arg('vslam_odom_frame', 'odom')
32+
args.add_arg('vslam_image_qos')
33+
args.add_arg('disable_cuvslam', False)
34+
args.add_arg('disable_nvblox', False)
35+
args.add_arg('disable_vgl', True)
36+
args.add_arg('nvblox_param_filename', 'params/nvblox_perceptor.yaml')
37+
args.add_arg('nvblox_after_shutdown_map_save_path', '')
38+
args.add_arg('is_sim', False)
39+
actions = args.get_launch_actions()
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58-
perceptor_configuration = lu.get_dict_value(str(perceptor_configurations),
59-
args.stereo_camera_configuration)
41+
perceptor_configuration, loggings = pu.load_perceptor_configuration(
42+
args.stereo_camera_configuration, args.disable_cuvslam, args.disable_nvblox, args.disable_vgl)
43+
actions.extend(loggings)
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6145
enabled_stereo_cameras_drivers = lu.get_keys_with_substring_in_value(
6246
perceptor_configuration, 'driver')
6347
enable_people_segmentation = lu.dict_values_contain_substring(perceptor_configuration,
6448
'nvblox_people')
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66-
actions = args.get_launch_actions()
6750
actions.append(
6851
lu.include(
6952
'nova_developer_kit_bringup',
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7861
lu.include(
7962
'isaac_ros_perceptor_bringup',
8063
'launch/perceptor_general.launch.py',
81-
launch_arguments={'perceptor_configuration': perceptor_configuration},
64+
launch_arguments={
65+
'perceptor_configuration': perceptor_configuration,
66+
'nvblox_global_frame': args.nvblox_global_frame,
67+
'vslam_odom_frame': args.vslam_odom_frame,
68+
'vslam_map_frame': args.vslam_map_frame,
69+
'nvblox_param_filename': args.nvblox_param_filename,
70+
'nvblox_after_shutdown_map_save_path': args.nvblox_after_shutdown_map_save_path,
71+
'vslam_image_qos': args.vslam_image_qos,
72+
'is_sim': args.is_sim,
73+
},
8274
))
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8476
return LaunchDescription(actions)

‎nova_developer_kit_bringup/launch/include/sensors_include.launch.py‎

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