Merge pull request #6 from NVIDIA-ISAAC-ROS/release-2.0.0

Isaac ROS 2.0.0

Author: jaiveersinghNV

README.md

@@ -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_benchmark LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -53,6 +53,12 @@ if(BUILD_TESTING)
   set(ament_cmake_copyright_FOUND TRUE)
 
   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/nitros_playback_node_pol.py TIMEOUT "15")

isaac_ros_benchmark/CMakeLists.txt

@@ -5,7 +5,7 @@
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+// http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,

isaac_ros_benchmark/config/centerpose_decoder_params.yaml

@@ -5,7 +5,7 @@
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+// http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,

isaac_ros_benchmark/include/isaac_ros_benchmark/nitros_monitor_node.hpp

@@ -1,10 +1,19 @@
-# Copyright (c) 2021-2023, NVIDIA CORPORATION.  All rights reserved.
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 #
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
 
 """Imports for isaac_ros_benchmark module."""
 

isaac_ros_benchmark/include/isaac_ros_benchmark/nitros_playback_node.hpp

@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_benchmark</name>
-  <version>0.31.0</version>
+  <version>2.0.0</version>
   <description>Isaac ROS benchmarking utilities</description>
 
   <maintainer email="[email protected]">Hemal Shah</maintainer>
@@ -50,6 +50,7 @@
   <depend>isaac_ros_nitros_compressed_image_type</depend>
   <depend>isaac_ros_nitros_tensor_list_type</depend>
   <depend>isaac_ros_nitros_detection2_d_array_type</depend>
+  <depend>isaac_ros_nitros_detection3_d_array_type</depend>
   <depend>isaac_ros_nitros_occupancy_grid_type</depend>
   <depend>isaac_ros_nitros_std_msg_type</depend>
   <depend>isaac_ros_nitros_imu_type</depend>

isaac_ros_benchmark/isaac_ros_benchmark/__init__.py

@@ -5,7 +5,7 @@
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+// http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,
@@ -22,6 +22,7 @@
 #include "isaac_ros_nitros_april_tag_detection_array_type/nitros_april_tag_detection_array.hpp"
 #include "isaac_ros_nitros_camera_info_type/nitros_camera_info.hpp"
 #include "isaac_ros_nitros_detection2_d_array_type/nitros_detection2_d_array.hpp"
+#include "isaac_ros_nitros_detection3_d_array_type/nitros_detection3_d_array.hpp"
 #include "isaac_ros_nitros_disparity_image_type/nitros_disparity_image.hpp"
 #include "isaac_ros_nitros_image_type/nitros_image.hpp"
 #include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp"
@@ -49,6 +50,7 @@ NitrosMonitorNode::NitrosMonitorNode(const rclcpp::NodeOptions & options)
     nvidia::isaac_ros::nitros::NitrosAprilTagDetectionArray>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosCameraInfo>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosDetection2DArray>();
+  nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosDetection3DArray>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosDisparityImage>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosImage>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosTensorList>();
@@ -90,6 +92,7 @@ void NitrosMonitorNode::CreateMonitorSubscriber()
     CREATE_ROS_TYPE_MONITOR_HELPER(isaac_ros_tensor_list_interfaces::msg::TensorList)
     CREATE_ROS_TYPE_MONITOR_HELPER(nav_msgs::msg::OccupancyGrid)
     CREATE_ROS_TYPE_MONITOR_HELPER(vision_msgs::msg::Detection2DArray)
+    CREATE_ROS_TYPE_MONITOR_HELPER(vision_msgs::msg::Detection3DArray)
 
     {
       std::stringstream error_msg;

isaac_ros_benchmark/package.xml

@@ -1,11 +1,11 @@
 // 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.
 // You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+// http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,
@@ -28,6 +28,7 @@
 #include "isaac_ros_nitros_camera_info_type/nitros_camera_info.hpp"
 #include "isaac_ros_nitros_compressed_image_type/nitros_compressed_image.hpp"
 #include "isaac_ros_nitros_detection2_d_array_type/nitros_detection2_d_array.hpp"
+#include "isaac_ros_nitros_detection3_d_array_type/nitros_detection3_d_array.hpp"
 #include "isaac_ros_nitros_disparity_image_type/nitros_disparity_image.hpp"
 #include "isaac_ros_nitros_flat_scan_type/nitros_flat_scan.hpp"
 #include "isaac_ros_nitros_image_type/nitros_image.hpp"
@@ -58,6 +59,7 @@ NitrosPlaybackNode::NitrosPlaybackNode(const rclcpp::NodeOptions & options)
     nvidia::isaac_ros::nitros::NitrosAprilTagDetectionArray>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosCameraInfo>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosDetection2DArray>();
+  nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosDetection3DArray>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosDisparityImage>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosFlatScan>();
   nitros_type_manager_->registerSupportedType<nvidia::isaac_ros::nitros::NitrosImage>();