Merge pull request #367 from stereolabs/add_nitros_transport

Add Isaac ROS integration with NITROS

Author: Myzhar

CHANGELOG.rst

@@ -1,96 +1,55 @@
 LATEST CHANGES
 ==============
 
-2025-07-08
------------
-- Change `pos_tracking.area_memory_db_path` to `pos_tracking.area_file_path` to match the ZED SDK parameter name
-- Add parameter `pos_tracking.save_area_memory_on_closing` to save the Area Memory before closing the camera
-- Fix Area Mapping file handling according to the ZED SDK policies.
-  - The Area Memory file is now saved only if the Area Memory is enabled, if the `pos_tracking.save_area_memory_on_closing` 
-  parameter is set to `true`, if the `pos_tracking.area_file_path` is set and if the `pos_tracking.area_file_path` is valid.
-- Add `save_area_memory` service
-  - Set the filename as a parameter. If the filename is empty, it uses the value of the parameter `pos_tracking.area_file_path` if not empty.
-
-2025-06-18
-----------
-- Added a new launch option 'node_log_type' to set the type of log to be used by the ZED Node.
-  - The available options are `screen`, `log`, and `both`.
-
-2025-05-29
-----------
-- Separated Video/Depth data publishing into its own thread for more precise control over the publishing rate, 
-  independent of the camera grab rate. This enables recording SVO files or processing positional tracking at 
-  full grab rate, while publishing data at a reduced rate to optimize bandwidth usage.
-
-2025-05-20
-----------
+v5.0.0
+------
+- Backward compatible with SDK v4.2
+- Added official support for ROS 2 Jazzy Jalisco
+- Note: requires the latest `zed_msgs` package v5.0.0
+- Added SVO Status topic to monitor the current SVO status of type `zed_msgs::SvoStatus`
+- Added fully integrated Health Status topic of type `zed_msgs::HealthStatusStamped`
+  - Remove the single health status topics to simplicy health monitoring
+- Remove `cob_srvs` dependency to use the custom `zed_msgs::SetSvoFrame` service
+- Added Heartbeat status message at 1 Hz: `~/status/heartbeat`
+- Improve performance with the default stereo configuration
+- Fix Positional Tracking enabling when required by ZED SDK modules
+- Fix realtime IMU data publishing when using SVO2
+- Added parameter 'debug.sdk_verbose_log_file' to Stereo and Mono components to set the path of the SDK verbose log file
+- Clean shutdown of ZED components using `pre_shutdown_callback`
+- Added new parameter `svo.replay_rate` to set the replay rate for the SVO when not used in realtime mode (range [0.10-5.0])
+- Improved diagnostic information for SVO playback
+- Default SVO Recording Compression mode [`0`] is forced to `H265` replacing the old `LOSSLESS` mode
+  - H265 is far superior as it uses hardware encoder, resulting in faster, lighter encoding, and dramatically smaller SVO2 files
+- Added `/clock` publisher to be used in SVO Mode to synchronize other nodes with the SVO timestamp
+- Added parameter `svo.publish_svo_clock` to enable the `/clock` publisher
+  - The parameter 'svo.publish_svo_clock' is normally overridden by the `publish_svo_clock` launch option
+- Moved `brightness`, `contrast`, and `hue` from `common_stereo.yaml` to `zed.yaml`, `zed2.yaml`, `zed2i.yaml`, and `zedm.yaml` files
 - Add advanced handling of the Object Detection and Tracking module of the ZED SDK
-
   - Move the multi-box native object detection parameters to the `object_detection.yaml` file
   - Add specific parameters to set the confidence threshold for each of the includes object detection classes of the ZED SDK
   - Move the Custom Object Detection parameters to the `custom_object_detection.yaml` file
   - Support all the new parameters of the ZED SDK v5 separately for each of the custom object detection classes
-
 - The usage of the new Object Detection support is fully described on the ZED ROS 2 online documentation:
-  - Object Detection: https://www.stereolabs.com/docs/ros2/object-detection/
-  - Custom Object Detection: https://www.stereolabs.com/docs/ros2/custom-object-detection/
-
-2025-05-19
------------
-- Move `brightness`, `contrast`, and `hue` from `common_stereo.yaml` to `zed.yaml`, `zed2.yaml`, `zed2i.yaml`, and `zedm.yaml` files
-
-2025-05-14
-----------
-- Add `/clock` publisher to be used in SVO Mode to synchronize other nodes with the SVO timestamp
-- Add parameter `svo.publish_svo_clock` to enable the `/clock` publisher
-  - The parameter 'svo.publish_svo_clock' is normally overridden by the `publish_svo_clock` launch option
-
-2025-04-30
-----------
-- Default SVO Recording Compression mode [`0`] is forced to `H265` replacing the old `LOSSLESS` mode
-  - H265 is far superior as it uses hardware encoder, resulting in faster, lighter encoding, and dramatically smaller SVO2 files
-
-2025-04-28
-----------
-- Add new parameter `svo.replay_rate` to set the replay rate for the SVO when not used in realtime mode (range [0.10-5.0])
-- Improved diagnostic information for SVO playback
-
-2025-04-23
-----------
-- Clean shutdown of ZED components using `pre_shutdown_callback`
-
-2025-04-22
-----------
-- Add backward compatibility with SDK v4.2
-
-2025-04-18
-----------
-- Add parameter 'debug.sdk_verbose_log_file' to Stereo and Mono components to set the path of the SDK verbose log file
-
-2025-04-16
-----------
-- Fix realtime IMU data publishing when using SVO2
-
-2025-04-15
-----------
-- Improve performance with the default stereo configuration
-- Fix Positional Tracking enabling when required by ZED SDK modules
-
-2025-04-01
-----------
-- Add Heartbeat status message at 1 Hz: `~/status/heartbeat`
-
-2025-03-28
-----------
-- Note: requires the latest `zed_msgs` package v5.0.0
-- Add SVO Status topic to monitor the current SVO status of type `zed_msgs::SvoStatus`
-- Add fully integrated Health Status topic of type `zed_msgs::HealthStatusStamped`
-  - Remove the single health status topics to simplicy health monitoring
-- Remove `cob_srvs` dependency to use the custom `zed_msgs::SetSvoFrame` service
-
-2025-03-26
-----------
-- Add official support for ROS 2 Jazzy Jalisco
+  - Object Detection: https://docs.stereolabs.com/ros2/object-detection/
+  - Custom Object Detection: https://docs.stereolabs.com/ros2/custom-object-detection/
+- Separated Video/Depth data publishing into its own thread for more precise control over the publishing rate, 
+  independent of the camera grab rate. This enables recording SVO files or processing positional tracking at 
+  full grab rate, while publishing data at a reduced rate to optimize bandwidth usage.
+- Added a new launch option 'node_log_type' to set the type of log to be used by the ZED Node.
+  - The available options are `screen`, `log`, and `both`.
+- Changed `pos_tracking.area_memory_db_path` to `pos_tracking.area_file_path` to match the ZED SDK parameter name
+- Added parameter `pos_tracking.save_area_memory_on_closing` to save the Area Memory before closing the camera
+- Fixed Area Mapping file handling according to the ZED SDK policies.
+  - The Area Memory file is now saved only if the Area Memory is enabled, if the `pos_tracking.save_area_memory_on_closing` 
+  parameter is set to `true`, if the `pos_tracking.area_file_path` is set and if the `pos_tracking.area_file_path` is valid.
+- Added `save_area_memory` service
+  - Set the filename as a parameter. If the filename is empty, it uses the value of the parameter `pos_tracking.area_file_path` if not empty.
+- Added `enable_ipc` launch argument to enable intra-process communication (IPC) when using ROS 2 Composition. 
+  - Note: NITROS requires IPC to be disabled to work properly.
+- Fixed plane topic names, adding missing node name prefix
+- Added camera_info to Confidence Map topic
+- Enabled Isaac ROS integration and automatic NITROS usage: https://docs.stereolabs.com/isaac-ros/
+  - Added the parameter `debug.disable_nitros` to disable NITROS usage. This is useful for debugging and testing purposes.
 
 v4.2.5
 ------

README.md

@@ -245,10 +245,20 @@ The services `toLL` and `fromLL` can be used to convert Latitude/Longitude coord
 
 > :pushpin: **Note:** This feature is incompatible with the ZED X One camera.
 
-For robots moving on a planar surface, activating the "2D mode" (parameter `pos_tracking/two_d_mode` in `common_stereo.yaml`) is possible. 
-The value of the coordinate Z for odometry and pose will have a fixed value (parameter `pos_tracking/fixed_z_value` in `common_stereo.yaml`). 
+For robots moving on a planar surface, activating the "2D mode" (parameter `pos_tracking/two_d_mode` in `common_stereo.yaml`) is possible.
+The value of the coordinate Z for odometry and pose will have a fixed value (parameter `pos_tracking/fixed_z_value` in `common_stereo.yaml`).
 Roll, Pitch, and the relative velocities will be fixed to zero.
 
+## NVIDIA® Isaac ROS integration
+
+The ZED ROS 2 Wrapper is compatible with the [NVIDIA® Isaac ROS](https://nvidia-isaac-ros.github.io/) framework, which provides a set of tools and libraries for building robotics applications on NVIDIA® platforms.
+
+The ZED ROS 2 Wrapper leverages [NITROS](https://nvidia-isaac-ros.github.io/concepts/nitros/index.html) (NVIDIA® Isaac Transport for ROS) a technology to enable data streaming through NVIDIA-accelerated ROS graphs.
+
+![NITROS communication](./images/nitros-graph.gif)
+
+Read the full [Isaac ROS integration guide](https://docs.stereolabs.com/isaac-ros/) and learn how to setup your development environment to use the ZED ROS2 Wrapper with Isaac ROS and NITROS.
+
 ## Examples and Tutorials
 
 Examples and tutorials are provided to better understand how to use the ZED wrapper and how to integrate it into the ROS 2 framework.
@@ -298,3 +308,6 @@ colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release --paralle
 
 ## Known issues
 
+- Nothindg to report yet.
+
+If you find a bug or want to request a new feature, please open an issue on the [GitHub issues page](https://github.com/stereolabs/zed-ros2-wrapper/issues).

images/nitros-graph.gif

@@ -145,6 +145,34 @@ find_package(visualization_msgs REQUIRED)
 find_package(shape_msgs REQUIRED)
 find_package(robot_localization REQUIRED)
 
+# Check ISAAC ROS Nitros availability
+find_package(isaac_ros_common QUIET)
+if(isaac_ros_common_FOUND)  
+  find_package(isaac_ros_nitros)
+  if(isaac_ros_nitros_FOUND)
+      find_package(isaac_ros_managed_nitros QUIET)
+      if(isaac_ros_managed_nitros_FOUND)
+          find_package(isaac_ros_nitros_image_type QUIET)
+          if(isaac_ros_nitros_image_type_FOUND)
+            list(APPEND DEPENDENCIES isaac_ros_common)
+            list(APPEND DEPENDENCIES isaac_ros_nitros)
+            list(APPEND DEPENDENCIES isaac_ros_managed_nitros)
+            list(APPEND DEPENDENCIES isaac_ros_nitros_image_type)
+            add_definitions(-DFOUND_ISAAC_ROS_NITROS)
+            message(" * ISAAC ROS Nitros transport is available")
+          else()
+            message(WARNING " * 'isaac_ros_nitros_image_type' not found, ISAAC ROS NITROS transport will not be available.")
+          endif()
+      else()
+        message(WARNING " * 'isaac_ros_managed_nitros' not found, ISAAC ROS NITROS transport will not be available.")
+      endif()
+  else()
+    message(WARNING " * 'isaac_ros_nitros' not found, ISAAC ROS NITROS transport will not be available.")
+  endif()
+else()
+  message(" * 'isaac_ros_common' not found, ISAAC ROS NITROS transport will not be available.")
+endif()
+
 if(NOT ${FOUND_ROS2_DISTRO} STREQUAL "foxy")
   find_package(point_cloud_transport REQUIRED)
   list(APPEND DEPENDENCIES point_cloud_transport)

zed_components/CMakeLists.txt

@@ -29,7 +29,6 @@
 #include <geometry_msgs/msg/point_stamped.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <image_transport/camera_publisher.hpp>
 #include <image_transport/image_transport.hpp>
 #include <image_transport/publisher.hpp>
 #include <memory>
@@ -69,6 +68,11 @@
 #include <zed_msgs/srv/start_svo_rec.hpp>
 // #include <zed_msgs/srv/save_area_memory.hpp> TODO(Walter): Uncomment when available in `zed_msgs` package from APT
 
+#ifdef FOUND_ISAAC_ROS_NITROS
+  #include "isaac_ros_managed_nitros/managed_nitros_publisher.hpp"
+  #include "isaac_ros_nitros_image_type/nitros_image.hpp"
+#endif
+
 #ifndef FOUND_FOXY
   #include <point_cloud_transport/point_cloud_transport.hpp>
 #endif
@@ -99,64 +103,52 @@ const bool IS_JETSON = false;
 const float NOT_VALID_TEMP = -273.15f;
 
 // ----> Typedefs to simplify declarations
+
+#ifdef FOUND_ISAAC_ROS_NITROS
+typedef std::shared_ptr<nvidia::isaac_ros::nitros::ManagedNitrosPublisher<
+      nvidia::isaac_ros::nitros::NitrosImage>> nitrosImgPub;
+#endif
+
 typedef std::shared_ptr<sensor_msgs::msg::CameraInfo> camInfoMsgPtr;
-typedef std::shared_ptr<rclcpp::Publisher<rosgraph_msgs::msg::Clock>> clockPub;
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::SvoStatus>>
-  svoStatusPub;
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::HealthStatusStamped>>
-  healthStatusPub;
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::Heartbeat>>
-  heartbeatStatusPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>> imagePub;
-typedef std::shared_ptr<rclcpp::Publisher<stereo_msgs::msg::DisparityImage>>
-  disparityPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>>
-  pointcloudPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Imu>> imuPub;
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::MagneticField>>
-  magPub;
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::FluidPressure>>
-  pressPub;
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Temperature>>
-  tempPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::PoseStamped>>
-  posePub;
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::PosTrackStatus>>
-  poseStatusPub;
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::GnssFusionStatus>>
-  gnssFusionStatusPub;
-typedef std::shared_ptr<
-    rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>>
-  poseCovPub;
-typedef std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::TransformStamped>>
-  transfPub;
-typedef std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> odomPub;
-typedef std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Path>> pathPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::ObjectsStamped>>
-  objPub;
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::DepthInfoStamped>>
-  depthInfoPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<zed_msgs::msg::PlaneStamped>>
-  planePub;
-typedef std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::Marker>>
-  markerPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<geographic_msgs::msg::GeoPoseStamped>>
-  geoPosePub;
-typedef std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::NavSatFix>>
-  gnssFixPub;
-
-typedef std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>> healthPub;
-
-typedef std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::PointStamped>> clickedPtSub;
-typedef std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::NavSatFix>> gnssFixSub;
-typedef std::shared_ptr<rclcpp::Subscription<rosgraph_msgs::msg::Clock>> clockSub;
+
+typedef rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr camInfoPub;
+typedef rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr clockPub;
+typedef rclcpp::Publisher<zed_msgs::msg::SvoStatus>::SharedPtr svoStatusPub;
+typedef rclcpp::Publisher<zed_msgs::msg::HealthStatusStamped>::SharedPtr healthStatusPub;
+typedef rclcpp::Publisher<zed_msgs::msg::Heartbeat>::SharedPtr heartbeatStatusPub;
+
+typedef rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr imagePub;
+typedef rclcpp::Publisher<stereo_msgs::msg::DisparityImage>::SharedPtr disparityPub;
+
+typedef rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloudPub;
+
+typedef rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imuPub;
+typedef rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr magPub;
+typedef rclcpp::Publisher<sensor_msgs::msg::FluidPressure>::SharedPtr pressPub;
+typedef rclcpp::Publisher<sensor_msgs::msg::Temperature>::SharedPtr tempPub;
+
+typedef rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr posePub;
+typedef rclcpp::Publisher<zed_msgs::msg::PosTrackStatus>::SharedPtr poseStatusPub;
+typedef rclcpp::Publisher<zed_msgs::msg::GnssFusionStatus>::SharedPtr gnssFusionStatusPub;
+typedef rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr poseCovPub;
+typedef rclcpp::Publisher<geometry_msgs::msg::TransformStamped>::SharedPtr transfPub;
+typedef rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub;
+typedef rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr pathPub;
+
+typedef rclcpp::Publisher<zed_msgs::msg::ObjectsStamped>::SharedPtr objPub;
+typedef rclcpp::Publisher<zed_msgs::msg::DepthInfoStamped>::SharedPtr depthInfoPub;
+
+typedef rclcpp::Publisher<zed_msgs::msg::PlaneStamped>::SharedPtr planePub;
+typedef rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr markerPub;
+
+typedef rclcpp::Publisher<geographic_msgs::msg::GeoPoseStamped>::SharedPtr geoPosePub;
+typedef rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr gnssFixPub;
+
+typedef rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr healthPub;
+
+typedef rclcpp::Subscription<geometry_msgs::msg::PointStamped>::SharedPtr clickedPtSub;
+typedef rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr gnssFixSub;
+typedef rclcpp::Subscription<rosgraph_msgs::msg::Clock>::SharedPtr clockSub;
 
 typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resetOdomSrvPtr;
 typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resetPosTrkSrvPtr;
@@ -168,8 +160,7 @@ typedef rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr enableObjDetPtr;
 typedef rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr enableBodyTrkPtr;
 typedef rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr enableMappingPtr;
 
-typedef rclcpp::Service<zed_msgs::srv::StartSvoRec>::SharedPtr
-  startSvoRecSrvPtr;
+typedef rclcpp::Service<zed_msgs::srv::StartSvoRec>::SharedPtr startSvoRecSrvPtr;
 typedef rclcpp::Service<zed_msgs::srv::SetROI>::SharedPtr setRoiSrvPtr;
 typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr stopSvoRecSrvPtr;
 typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr pauseSvoSrvPtr;