Isaac ROS 4.0

Author: jaiveersinghNV

README.md

@@ -137,7 +137,7 @@ Additionally, the final results and benchmark metadata (e.g., system information
 
 Input data for benchmarking is provided in a rosbag.
 
-To provide consistency of results, we have provided multiple dataset sequences in rosbag for use with `ros2_benchmark`; input data in other rosbag(s) can be used. These dataset sequences were captured on a robot, using very high precision time synchronization between sensors.  Captured sensor data includes [HAWK (2mp RGB stereo camera with IMU)](https://www.leopardimaging.com/li-ar0234cs-stereo-gmsl2-hawk/), [D455](https://www.intelrealsense.com/depth-camera-d455/) and [XT32](https://www.hesaitech.com/product/xt32/).
+To provide consistency of results, we have provided multiple dataset sequences in rosbag for use with `ros2_benchmark`; input data in other rosbag(s) can be used. These dataset sequences were captured on a robot, using very high precision time synchronization between sensors.  Captured sensor data includes [HAWK (2mp RGB stereo camera with IMU)](https://www.leopardimaging.com/li-ar0234cs-stereo-gmsl2-hawk/), [D455](https://realsenseai.com/stereo-depth-cameras/real-sense-depth-camera-d455/) and [XT32](https://www.hesaitech.com/product/xt32/).
 
 These datasets are explicitly **not** provided inside this repository. Instead, visit NGC to download the dataset [here](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/collections/r2bdataset).
 

SECURITY.md

@@ -0,0 +1,24 @@
+## Security
+
+NVIDIA is dedicated to the security and trust of our software products and services, including all source code repositories managed through our organization.
+
+If you need to report a security issue, please use the appropriate contact points outlined below. **Please do not report security vulnerabilities through GitHub.**
+
+## Reporting Potential Security Vulnerability in an NVIDIA Product
+
+To report a potential security vulnerability in any NVIDIA product:
+- Web: [Security Vulnerability Submission Form](https://www.nvidia.com/object/submit-security-vulnerability.html)
+- E-Mail: [email protected]
+    - We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
+    - Please include the following information:
+      - Product/Driver name and version/branch that contains the vulnerability
+      - Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
+      - Instructions to reproduce the vulnerability
+      - Proof-of-concept or exploit code
+      - Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
+
+While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/) policies page for more information.
+
+## NVIDIA Product Security
+
+For all security-related concerns, please visit NVIDIA's Product Security portal at https://www.nvidia.com/en-us/security

assets/configs/realsense.yaml

@@ -21,11 +21,14 @@ serial_no: ''
 usb_port_id: ''
 
 rgb_camera:
-  profile: '640x480x15'
+  color_profile: '640x480x15'
+  profile: '640x480x15' # For backwards compatibility
 color_qos: "SENSOR_DATA"
 
 depth_module:
-  profile: '1280x720x30'
+  depth_profile: '1280x720x30'
+  infra_profile: '1280x720x30'
+  profile: '1280x720x30' # For backwards compatibility
   emitter_enabled: 0
   emitter_on_off: false
 depth_qos: "SENSOR_DATA"
@@ -47,4 +50,5 @@ pointcloud_texture_index: 0
 pointcloud_texture_stream: RS2_STREAM_ANY
 
 enable_sync: false
-align_depth: false
+align_depth:
+  enable: false