Merge pull request #21 from NVIDIA-ISAAC-ROS/release-2.0.0

Isaac ROS 2.0.0
NVIDIA-ISAAC-ROS · Oct 19, 2023 · ed3d677 · ed3d677
2 parents 119ac00 + 61bf373
commit ed3d677
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Showing 23 changed files with 279 additions and 475 deletions.
diff --git a/README.md b/README.md
diff --git a/docs/tutorial-isaac-sim.md b/docs/tutorial-isaac-sim.md
diff --git a/docs/tutorial-nitros-graph.md b/docs/tutorial-nitros-graph.md
diff --git a/isaac_ros_unet/CMakeLists.txt b/isaac_ros_unet/CMakeLists.txt
@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,7 +15,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.23.2)
+cmake_minimum_required(VERSION 3.22.1)
 project(isaac_ros_unet LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -45,6 +45,12 @@ if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
 
+
+ # The FindPythonInterp and FindPythonLibs modules are removed
+ if(POLICY CMP0148)
+ cmake_policy(SET CMP0148 OLD)
+ endif()
+
  find_package(launch_testing_ament_cmake REQUIRED)
  add_launch_test(test/isaac_ros_unet_pol_test.py TIMEOUT "400")
 endif()

diff --git a/isaac_ros_unet/gxf/image_segmentation/CMakeLists.txt b/isaac_ros_unet/gxf/image_segmentation/CMakeLists.txt
@@ -31,7 +31,7 @@ find_package(GXF ${ISAAC_ROS_GXF_VERSION} MODULE REQUIRED
  serialization
  std
 )
-include(YamlCpp)
+find_package(yaml-cpp)
 
 # Create extension
 add_library(gxf_segmentation_postprocessor SHARED

diff --git a/isaac_ros_unet/include/isaac_ros_unet/unet_decoder_node.hpp b/isaac_ros_unet/include/isaac_ros_unet/unet_decoder_node.hpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/isaac_ros_unet/launch/isaac_ros_argus_unet_triton.launch.py b/isaac_ros_unet/launch/isaac_ros_argus_unet_triton.launch.py
@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -141,9 +141,11 @@ def generate_launch_description():
  # Parameters preconfigured for PeopleSemSegNet.
  encoder_node = ComposableNode(
  name='dnn_image_encoder',
- package='isaac_ros_dnn_encoders',
+ package='isaac_ros_dnn_image_encoder',
  plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
  parameters=[{
+ 'input_image_width': 1920,
+ 'input_image_height': 1200,
  'network_image_width': network_image_width,
  'network_image_height': network_image_height,
  'image_mean': encoder_image_mean,

diff --git a/isaac_ros_unet/launch/isaac_ros_unet_tensor_rt.launch.py b/isaac_ros_unet/launch/isaac_ros_unet_tensor_rt.launch.py
@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -25,6 +25,14 @@
 def generate_launch_description():
  """Launch the DNN Image encoder, TensorRT node and UNet decoder node."""
  launch_args = [
+ DeclareLaunchArgument(
+ 'input_image_width',
+ default_value='1920',
+ description='The input image width'),
+ DeclareLaunchArgument(
+ 'input_image_height',
+ default_value='1080',
+ description='The input image height'),
  DeclareLaunchArgument(
  'network_image_width',
  default_value='960',
@@ -100,6 +108,8 @@ def generate_launch_description():
  ]
 
  # DNN Image Encoder parameters
+ input_image_width = LaunchConfiguration('input_image_width')
+ input_image_height = LaunchConfiguration('input_image_height')
  network_image_width = LaunchConfiguration('network_image_width')
  network_image_height = LaunchConfiguration('network_image_height')
  encoder_image_mean = LaunchConfiguration('encoder_image_mean')
@@ -126,9 +136,11 @@ def generate_launch_description():
  # Parameters preconfigured for PeopleSemSegNet.
  encoder_node = ComposableNode(
  name='dnn_image_encoder',
- package='isaac_ros_dnn_encoders',
+ package='isaac_ros_dnn_image_encoder',
  plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
  parameters=[{
+ 'input_image_width': input_image_width,
+ 'input_image_height': input_image_height,
  'network_image_width': network_image_width,
  'network_image_height': network_image_height,
  'image_mean': encoder_image_mean,

diff --git a/isaac_ros_unet/launch/isaac_ros_unet_triton.launch.py b/isaac_ros_unet/launch/isaac_ros_unet_triton.launch.py
@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -25,6 +25,14 @@
 def generate_launch_description():
  """Launch the DNN Image encoder, Triton node and UNet decoder node."""
  launch_args = [
+ DeclareLaunchArgument(
+ 'input_image_width',
+ default_value='1920',
+ description='The input image width'),
+ DeclareLaunchArgument(
+ 'input_image_height',
+ default_value='1080',
+ description='The input image height'),
  DeclareLaunchArgument(
  'network_image_width',
  default_value='960',
@@ -96,6 +104,8 @@ def generate_launch_description():
  ]
 
  # DNN Image Encoder parameters
+ input_image_width = LaunchConfiguration('input_image_width')
+ input_image_height = LaunchConfiguration('input_image_height')
  network_image_width = LaunchConfiguration('network_image_width')
  network_image_height = LaunchConfiguration('network_image_height')
  encoder_image_mean = LaunchConfiguration('encoder_image_mean')
@@ -121,9 +131,11 @@ def generate_launch_description():
  # Parameters preconfigured for PeopleSemSegNet.
  encoder_node = ComposableNode(
  name='dnn_image_encoder',
- package='isaac_ros_dnn_encoders',
+ package='isaac_ros_dnn_image_encoder',
  plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
  parameters=[{
+ 'input_image_width': input_image_width,
+ 'input_image_height': input_image_height,
  'network_image_width': network_image_width,
  'network_image_height': network_image_height,
  'image_mean': encoder_image_mean,