Merge pull request #5 from NVIDIA-ISAAC-ROS/release-dp-1.1

Isaac ROS 0.11.0 (DP1.1)

README.md

@@ -35,16 +35,18 @@ The NVIDIA implementation of type adaption and negotiation are called NITROS (NV
 
 
 ## Latest Update
-Update 2022-06-30: Initial release
+Update 2022-08-31: Update to be compatible with JetPack 5.0.2
 
 
 ## Supported Platforms
 This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU.
 
+> **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release.
+
 
 | Platform | Hardware                                                                                                                                                                                                | Software                                                                                                             | Notes                                                                                                                                                                                   |
 | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.1 DP](https://developer.nvidia.com/embedded/jetpack)                                                    | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
+| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack)                                                       | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
 | x86_64   | NVIDIA GPU                                                                                                                                                                                              | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/) <br> [CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
 
 
@@ -183,6 +185,7 @@ Please visit the link below for an example graph that consists of NITROS-acceler
 
 ## Updates
 
-| Date       | Changes         |
-| ---------- | --------------- |
-| 2022-06-30 | Initial release |
+| Date       | Changes                                    |
+| ---------- | ------------------------------------------ |
+| 2022-08-31 | Update to be compatible with JetPack 5.0.2 |
+| 2022-06-30 | Initial release                            |

isaac_ros_nitros/CMakeLists.txt

@@ -32,66 +32,59 @@ message( STATUS "Architecture: ${ARCHITECTURE}" )
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
+
+# Eigen3
 find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 
+
 # GXF
 include_directories(gxf/include)
-include_directories(gxf/include/extensions/fiducials)
 include_directories(gxf/include/third_party)
 add_library(gxf SHARED IMPORTED)
 add_library(gxf_std SHARED IMPORTED)
 add_library(gxf_multimedia SHARED IMPORTED)  # for NitrosImage
 add_library(optimizer SHARED IMPORTED)
-add_library(fiducials SHARED IMPORTED)
 if( ${ARCHITECTURE} STREQUAL "x86_64" )
   set_property(TARGET gxf PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_x86_64/core/libgxf_core.so)
   set_property(TARGET gxf_std PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_x86_64/std/libgxf_std.so)
   set_property(
     TARGET gxf_multimedia PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_x86_64/multimedia/libgxf_multimedia.so)
   set_property(TARGET optimizer PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_x86_64/libgxf_optimizer.so)
-  set_property(TARGET fiducials PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_x86_64/libgxf_fiducials.so)
 elseif( ${ARCHITECTURE} STREQUAL "aarch64" )
   set_property(TARGET gxf PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_jetpack50/core/libgxf_core.so)
   set_property(TARGET gxf_std PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_jetpack50/std/libgxf_std.so)
   set_property(
     TARGET gxf_multimedia PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_jetpack50/multimedia/libgxf_multimedia.so)
   set_property(TARGET optimizer PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_jetpack50/libgxf_optimizer.so)
-  set_property(TARGET fiducials PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/gxf/lib/gxf_jetpack50/libgxf_fiducials.so)
 endif()
 
 
 # for #include <cuda_runtime.h>
 find_package(CUDA REQUIRED)
 include_directories("${CUDA_INCLUDE_DIRS}")
 
-option(USE_NVTX "Enable NVTX markers for improved profiling (if available)" OFF)
+option(USE_NVTX "Enable NVTX markers for improved profiling (if available)" ON)
 if(USE_NVTX)
     add_definitions(-DUSE_NVTX)
     link_directories("${CUDA_TOOLKIT_ROOT_DIR}/lib64")
     link_libraries("nvToolsExt")
 endif()
 
+
 # NitrosNode
 ament_auto_add_library(isaac_ros_nitros SHARED
   src/nitros_node.cpp
   src/nitros_context.cpp
   src/types/type_adapter_nitros_context.cpp
-  src/types/type_utility.cpp
   src/types/nitros_type_base.cpp
-  src/types/nitros_camera_info.cpp
-  src/types/nitros_image.cpp
-  src/types/nitros_disparity_image.cpp
   src/types/nitros_int64.cpp
-  src/types/nitros_tensor_list.cpp
-  src/types/nitros_point_cloud.cpp
-  src/types/nitros_april_tag_detection_array.cpp
   src/nitros_publisher.cpp
   src/nitros_subscriber.cpp
   src/nitros_publisher_subscriber_group.cpp)
 target_compile_definitions(isaac_ros_nitros
   PRIVATE "COMPOSITION_BUILDING_DLL"
 )
-target_link_libraries(isaac_ros_nitros gxf gxf_std gxf_multimedia optimizer fiducials Eigen3::Eigen)
+target_link_libraries(isaac_ros_nitros gxf gxf_multimedia optimizer Eigen3::Eigen)
 # For the NitrosNode test node
 rclcpp_components_register_node(isaac_ros_nitros
   PLUGIN "nvidia::isaac_ros::nitros::NitrosNode"
@@ -107,14 +100,14 @@ install(
   DIRECTORY gxf/include/
   DESTINATION include/
 )
-# Fiducials headers
+# GXF third party headers
 install(
-  DIRECTORY gxf/include/extensions/fiducials/
+  DIRECTORY gxf/include/third_party/
   DESTINATION include/
 )
-# GXF third party headers
+# Isaac headers
 install(
-  DIRECTORY gxf/include/third_party/
+  DIRECTORY gxf/include/extensions/isaac/
   DESTINATION include/
 )
 ament_export_include_directories("include")
@@ -152,12 +145,6 @@ if(BUILD_TESTING)
 
   find_package(launch_testing_ament_cmake REQUIRED)
   add_launch_test(test/isaac_ros_nitros_test_pol.py TIMEOUT "15")
-  add_launch_test(test/isaac_ros_nitros_tensor_list_test_pol.py TIMEOUT "15")
-  add_launch_test(test/isaac_ros_nitros_image_test_pol.py TIMEOUT "15")
-  add_launch_test(test/isaac_ros_nitros_camera_info_test_pol.py TIMEOUT "15")
-  add_launch_test(test/isaac_ros_nitros_disparity_image_test_pol.py TIMEOUT "15")
-  add_launch_test(test/isaac_ros_nitros_point_cloud_test_pol.py TIMEOUT "15")
-  add_launch_test(test/isaac_ros_nitros_april_tag_detection_array_test_pol.py TIMEOUT "15")
 endif()
 
 ament_auto_package()

isaac_ros_nitros/include/isaac_ros_nitros/nitros_node.hpp

@@ -149,6 +149,13 @@ class NitrosNode : public rclcpp::Node
   // Set the graph YAML file to be loaded
   void setAppYamlFilename(std::string package_relative_filepath);
 
+  // Register a supported type
+  template<typename T>
+  void registerSupportedType()
+  {
+    nitros_type_manager_->registerSupportedType<T>();
+  }
+
   // A list of I/O port groups
   GraphIOGroupSupportedDataTypesInfoList gxf_io_group_info_list_;
 
@@ -205,6 +212,9 @@ class NitrosNode : public rclcpp::Node
 
   // Map for frame_id passthrough
   std::shared_ptr<std::map<ComponentKey, std::string>> frame_id_map_ptr_;
+
+  // Nitros type manager
+  std::shared_ptr<NitrosTypeManager> nitros_type_manager_;
 };
 
 }  // namespace nitros

isaac_ros_nitros/include/isaac_ros_nitros/nitros_publisher.hpp

@@ -42,6 +42,7 @@ class NitrosPublisher : public NitrosPublisherSubscriberBase
   // Constructor
   NitrosPublisher(
     rclcpp::Node & node,
+    std::shared_ptr<NitrosTypeManager> nitros_type_manager,
     const gxf::optimizer::ComponentInfo & gxf_component_info,
     const std::vector<std::string> & supported_data_formats,
     const NitrosPublisherSubscriberConfig & config,

isaac_ros_nitros/include/isaac_ros_nitros/nitros_publisher_subscriber_base.hpp

@@ -19,6 +19,7 @@
 #include "extensions/gxf_optimizer/exporter/graph_types.hpp"
 #include "gxf/core/gxf.h"
 #include "isaac_ros_nitros/types/nitros_type_base.hpp"
+#include "isaac_ros_nitros/types/nitros_type_manager.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -76,10 +77,12 @@ class NitrosPublisherSubscriberBase
   // Constructor
   NitrosPublisherSubscriberBase(
     rclcpp::Node & node,
+    std::shared_ptr<NitrosTypeManager> nitros_type_manager,
     const gxf::optimizer::ComponentInfo & gxf_component_info,
     const std::vector<std::string> & supported_data_formats,
     const NitrosPublisherSubscriberConfig & config)
   : node_(node),
+    nitros_type_manager_(nitros_type_manager),
     gxf_component_info_(gxf_component_info),
     supported_data_formats_(supported_data_formats),
     config_(config) {}
@@ -149,6 +152,9 @@ class NitrosPublisherSubscriberBase
   // The parent GXF context
   gxf_context_t context_;
 
+  // Nitros type manager
+  std::shared_ptr<NitrosTypeManager> nitros_type_manager_;
+
   // The info of the GXF component that's associated to this Nitros publisher/subscriber
   gxf::optimizer::ComponentInfo gxf_component_info_;
 
@@ -161,6 +167,7 @@ class NitrosPublisherSubscriberBase
   // Negotiated data format
   std::string negotiated_data_format_;
 
+  // Frame ID map
   std::shared_ptr<std::map<gxf::optimizer::ComponentKey, std::string>> frame_id_map_ptr_;
 };
 

isaac_ros_nitros/include/isaac_ros_nitros/nitros_publisher_subscriber_group.hpp

@@ -54,6 +54,7 @@ class NitrosPublisherSubscriberGroup
   // Constructor
   NitrosPublisherSubscriberGroup(
     rclcpp::Node & node,
+    std::shared_ptr<NitrosTypeManager> nitros_type_manager,
     const gxf::optimizer::GraphIOGroupSupportedDataTypesInfo & gxf_io_supported_data_formats_info,
     const NitrosPublisherSubscriberConfigMap & nitros_pub_sub_configs,
     const std::shared_ptr<std::map<ComponentKey, std::string>> frame_id_map_ptr);
@@ -126,6 +127,9 @@ class NitrosPublisherSubscriberGroup
   // Get all publisher/subscriber component infos
   std::vector<gxf::optimizer::ComponentInfo> getAllComponentInfos() const;
 
+  // Expand "any" format in gxf_io_supported_data_formats_info_ with registered formats
+  void expandAnyDataFormats();
+
   // For each component that has .use_compatible_format_only as true, remove all supported
   // formats except for the compatible format
   bool applyUseCompatibleFormatOnly();
@@ -153,6 +157,9 @@ class NitrosPublisherSubscriberGroup
   // The ROS node that holds this group
   rclcpp::Node & node_;
 
+  // Nitros type manager
+  std::shared_ptr<NitrosTypeManager> nitros_type_manager_;
+
   // GXF graph information
   gxf::optimizer::GraphIOGroupSupportedDataTypesInfo gxf_io_supported_data_formats_info_;
 
@@ -163,6 +170,7 @@ class NitrosPublisherSubscriberGroup
   std::vector<std::shared_ptr<NitrosPublisher>> nitros_pubs_;
   std::vector<std::shared_ptr<NitrosSubscriber>> nitros_subs_;
 
+  // Frame ID map
   std::shared_ptr<std::map<ComponentKey, std::string>> frame_id_map_ptr_;
 };
 

isaac_ros_nitros/include/isaac_ros_nitros/nitros_subscriber.hpp

@@ -40,6 +40,7 @@ class NitrosSubscriber : public NitrosPublisherSubscriberBase
   // Constructor
   NitrosSubscriber(
     rclcpp::Node & node,
+    std::shared_ptr<NitrosTypeManager> nitros_type_manager,
     const gxf::optimizer::ComponentInfo & gxf_component_info,
     const std::vector<std::string> & supported_data_formats,
     const NitrosPublisherSubscriberConfig & config);
@@ -68,9 +69,8 @@ class NitrosSubscriber : public NitrosPublisherSubscriberBase
   bool pushEntity(const int64_t eid);
 
   // The subscriber callback
-  template<typename T>
   void subscriberCallback(
-    const std::shared_ptr<T> msg,
+    NitrosTypeBase & msg_base,
     const std::string data_format_name);
 
 private: