diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 0000000..a89cd42
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,14 @@
+# Isaac ROS Contribution Rules
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+> **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+
+[//]: # (202201002)
diff --git a/LICENSE b/LICENSE
index 88bc900..7a4a3ea 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,66 +1,202 @@
-NVIDIA ISAAC ROS SOFTWARE LICENSE
-This license is a legal agreement between you and NVIDIA Corporation ("NVIDIA") and governs the use of the NVIDIA Isaac ROS software and materials provided hereunder (“SOFTWARE”).
-
-This license can be accepted only by an adult of legal age of majority in the country in which the SOFTWARE is used.
-
-If you are entering into this license on behalf of a company or other legal entity, you represent that you have the legal authority to bind the entity to this license, in which case “you” will mean the entity you represent.
-
-If you don’t have the required age or authority to accept this license, or if you don’t accept all the terms and conditions of this license, do not download, install or use the SOFTWARE.
-
-You agree to use the SOFTWARE only for purposes that are permitted by (a) this license, and (b) any applicable law, regulation or generally accepted practices or guidelines in the relevant jurisdictions.
-
-1. LICENSE. Subject to the terms of this license, NVIDIA hereby grants you a non-exclusive, non-transferable license, without the right to sublicense (except as expressly provided in this license) to:
-a. Install and use the SOFTWARE,
-b. Modify and create derivative works of sample or reference source code delivered in the SOFTWARE, and
-c. Distribute any part of the SOFTWARE (i) as incorporated into a software application that has material additional functionality beyond the included portions of the SOFTWARE, or (ii) unmodified in binary format, in each case subject to the distribution requirements indicated in this license.
-
-2. DISTRIBUTION REQUIREMENTS. These are the distribution requirements for you to exercise the distribution grant above:
- a. The following notice shall be included in modifications and derivative works of source code distributed: “This software contains source code provided by NVIDIA Corporation.”
- b. You agree to distribute the SOFTWARE subject to the terms at least as protective as the terms of this license, including (without limitation) terms relating to the license grant, license restrictions and protection of NVIDIA’s intellectual property rights. Additionally, you agree that you will protect the privacy, security and legal rights of your application users.
- c. You agree to notify NVIDIA in writing of any known or suspected distribution or use of the SOFTWARE not in compliance with the requirements of this license, and to enforce the terms of your agreements with respect to the distributed portions of the SOFTWARE.
-3. AUTHORIZED USERS. You may allow employees and contractors of your entity or of your subsidiary(ies) to access and use the SOFTWARE from your secure network to perform work on your behalf. If you are an academic institution you may allow users enrolled or employed by the academic institution to access and use the SOFTWARE from your secure network. You are responsible for the compliance with the terms of this license by your authorized users.
-
-4. LIMITATIONS. Your license to use the SOFTWARE is restricted as follows:
- a. The SOFTWARE is licensed for you to develop applications only for their use in systems with NVIDIA GPUs.
- b. You may not reverse engineer, decompile or disassemble, or remove copyright or other proprietary notices from any portion of the SOFTWARE or copies of the SOFTWARE.
- c. Except as expressly stated above in this license, you may not sell, rent, sublicense, transfer, distribute, modify, or create derivative works of any portion of the SOFTWARE.
- d. Unless you have an agreement with NVIDIA for this purpose, you may not indicate that an application created with the SOFTWARE is sponsored or endorsed by NVIDIA.
- e. You may not bypass, disable, or circumvent any technical limitation, encryption, security, digital rights management or authentication mechanism in the SOFTWARE.
- f. You may not use the SOFTWARE in any manner that would cause it to become subject to an open source software license. As examples, licenses that require as a condition of use, modification, and/or distribution that the SOFTWARE be: (i) disclosed or distributed in source code form; (ii) licensed for the purpose of making derivative works; or (iii) redistributable at no charge.
- g. You acknowledge that the SOFTWARE as delivered is not tested or certified by NVIDIA for use in connection with the design, construction, maintenance, and/or operation of any system where the use or failure of such system could result in a situation that threatens the safety of human life or results in catastrophic damages (each, a "Critical Application"). Examples of Critical Applications include use in avionics, navigation, autonomous vehicle applications, ai solutions for automotive products, military, medical, life support or other life critical applications. NVIDIA shall not be liable to you or any third party, in whole or in part, for any claims or damages arising from such uses. You are solely responsible for ensuring that any product or service developed with the SOFTWARE as a whole includes sufficient features to comply with all applicable legal and regulatory standards and requirements.
- h. You agree to defend, indemnify and hold harmless NVIDIA and its affiliates, and their respective employees, contractors, agents, officers and directors, from and against any and all claims, damages, obligations, losses, liabilities, costs or debt, fines, restitutions and expenses (including but not limited to attorney’s fees and costs incident to establishing the right of indemnification) arising out of or related to your use of goods and/or services that include or utilize the SOFTWARE, or for use of the SOFTWARE outside of the scope of this license or not in compliance with its terms.
-
-5. UPDATES. NVIDIA may, at its option, make available patches, workarounds or other updates to this SOFTWARE. Unless the updates are provided with their separate governing terms, they are deemed part of the SOFTWARE licensed to you as provided in this license.
-
-6. PRE-RELEASE VERSIONS. SOFTWARE versions identified as alpha, beta, preview, early access or otherwise as pre-release may not be fully functional, may contain errors or design flaws, and may have reduced or different security, privacy, availability, and reliability standards relative to commercial versions of NVIDIA software and materials. You may use a pre-release SOFTWARE version at your own risk, understanding that these versions are not intended for use in production or business-critical systems.
-
-7. COMPONENTS UNDER OTHER LICENSES. The SOFTWARE may include NVIDIA or third-party components with separate legal notices or terms as may be described in proprietary notices accompanying the SOFTWARE, such as components governed by open source software licenses. If and to the extent there is a conflict between the terms in this license and the license terms associated with a component, the license terms associated with the component controls only to the extent necessary to resolve the conflict.
-
-8. OWNERSHIP.
-
-8.1 NVIDIA reserves all rights, title and interest in and to the SOFTWARE not expressly granted to you under this license. NVIDIA and its suppliers hold all rights, title and interest in and to the SOFTWARE, including their respective intellectual property rights. The SOFTWARE is copyrighted and protected by the laws of the United States and other countries, and international treaty provisions.
-
-8.2 Subject to the rights of NVIDIA and its suppliers in the SOFTWARE, you hold all rights, title and interest in and to your applications and your derivative works of the sample or reference source code delivered in the SOFTWARE including their respective intellectual property rights. With respect to source code samples or reference source code licensed to you, NVIDIA and its affiliates are free to continue independently developing source code samples and you covenant not to sue NVIDIA, its affiliates or their licensees with respect to later versions of NVIDIA released source code.
-
-9. FEEDBACK. You may, but are not obligated to, provide to NVIDIA Feedback. “Feedback” means suggestions, fixes, modifications, feature requests or other feedback regarding the SOFTWARE. Feedback, even if designated as confidential by you, shall not create any confidentiality obligation for NVIDIA. NVIDIA and its designees have a perpetual, non-exclusive, worldwide, irrevocable license to use, reproduce, publicly display, modify, create derivative works of, license, sublicense, and otherwise distribute and exploit Feedback as NVIDIA sees fit without payment and without obligation or restriction of any kind on account of intellectual property rights or otherwise.
-
-10. NO WARRANTIES. THE SOFTWARE IS PROVIDED AS-IS. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW NVIDIA AND ITS AFFILIATES EXPRESSLY DISCLAIM ALL WARRANTIES OF ANY KIND OR NATURE, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, WARRANTIES OF MERCHANTABILITY, NON-INFRINGEMENT, OR FITNESS FOR A PARTICULAR PURPOSE. NVIDIA DOES NOT WARRANT THAT THE SOFTWARE WILL MEET YOUR REQUIREMENTS OR THAT THE OPERATION THEREOF WILL BE UNINTERRUPTED OR ERROR-FREE, OR THAT ALL ERRORS WILL BE CORRECTED.
-
-11. LIMITATIONS OF LIABILITY. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW NVIDIA AND ITS AFFILIATES SHALL NOT BE LIABLE FOR ANY SPECIAL, INCIDENTAL, PUNITIVE OR CONSEQUENTIAL DAMAGES, OR FOR ANY LOST PROFITS, PROJECT DELAYS, LOSS OF USE, LOSS OF DATA OR LOSS OF GOODWILL, OR THE COSTS OF PROCURING SUBSTITUTE PRODUCTS, ARISING OUT OF OR IN CONNECTION WITH THIS LICENSE OR THE USE OR PERFORMANCE OF THE SOFTWARE, WHETHER SUCH LIABILITY ARISES FROM ANY CLAIM BASED UPON BREACH OF CONTRACT, BREACH OF WARRANTY, TORT (INCLUDING NEGLIGENCE), PRODUCT LIABILITY OR ANY OTHER CAUSE OF ACTION OR THEORY OF LIABILITY, EVEN IF NVIDIA HAS PREVIOUSLY BEEN ADVISED OF, OR COULD REASONABLY HAVE FORESEEN, THE POSSIBILITY OF SUCH DAMAGES. IN NO EVENT WILL NVIDIA’S AND ITS AFFILIATES TOTAL CUMULATIVE LIABILITY UNDER OR ARISING OUT OF THIS LICENSE EXCEED US$10.00. THE NATURE OF THE LIABILITY OR THE NUMBER OF CLAIMS OR SUITS SHALL NOT ENLARGE OR EXTEND THIS LIMIT.
-
-12. TERMINATION. Your rights under this license will terminate automatically without notice from NVIDIA if you fail to comply with any term and condition of this license or if you commence or participate in any legal proceeding against NVIDIA with respect to the SOFTWARE. NVIDIA may terminate this license with advance written notice to you, if NVIDIA decides to no longer provide the SOFTWARE in a country or, in NVIDIA’s sole discretion, the continued use of it is no longer commercially viable. Upon any termination of this license, you agree to promptly discontinue use of the SOFTWARE and destroy all copies in your possession or control. Your prior distributions in accordance with this license are not affected by the termination of this license. All provisions of this license will survive termination, except for the license granted to you.
-
-13. APPLICABLE LAW. This license will be governed in all respects by the laws of the United States and of the State of Delaware, without regard to the conflicts of laws principles. The United Nations Convention on Contracts for the International Sale of Goods is specifically disclaimed. You agree to all terms of this license in the English language. The state or federal courts residing in Santa Clara County, California shall have exclusive jurisdiction over any dispute or claim arising out of this license. Notwithstanding this, you agree that NVIDIA shall still be allowed to apply for injunctive remedies or urgent legal relief in any jurisdiction.
-
-14. NO ASSIGNMENT. This license and your rights and obligations thereunder may not be assigned by you by any means or operation of law without NVIDIA’s permission. Any attempted assignment not approved by NVIDIA in writing shall be void and of no effect. NVIDIA may assign, delegate or transfer this license and its rights and obligations, and if to a non-affiliate you will be notified.
-
-15. EXPORT. The SOFTWARE is subject to United States export laws and regulations. You agree to comply with all applicable U.S. and international export laws, including the Export Administration Regulations (EAR) administered by the U.S. Department of Commerce and economic sanctions administered by the U.S. Department of Treasury’s Office of Foreign Assets Control (OFAC). These laws include restrictions on destinations, end-users and end-use. By accepting this license, you confirm that you are not currently residing in a country or region currently embargoed by the U.S. and that you are not otherwise prohibited from receiving the SOFTWARE.
-
-16. GOVERNMENT USE. The SOFTWARE is, and shall be treated as being, “Commercial Items” as that term is defined at 48 CFR § 2.101, consisting of “commercial computer software” and “commercial computer software documentation”, respectively, as such terms are used in, respectively, 48 CFR § 12.212 and 48 CFR §§ 227.7202 & 252.227-7014(a)(1). Use, duplication or disclosure by the U.S. Government or a U.S. Government subcontractor is subject to the restrictions in this license pursuant to 48 CFR § 12.212 or 48 CFR § 227.7202. In no event shall the US Government user acquire rights in the SOFTWARE beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2).
-
-17. NOTICES. Please direct your legal notices or other correspondence to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051, United States of America, Attention: Legal Department.
-
-18. ENTIRE AGREEMENT. This license is the final, complete and exclusive agreement between the parties relating to the subject matter of this license and supersedes all prior or contemporaneous understandings and agreements relating to this subject matter, whether oral or written. If any court of competent jurisdiction determines that any provision of this license is illegal, invalid or unenforceable, the remaining provisions will remain in full force and effect. Any amendment or waiver under this license shall be in writing and signed by representatives of both parties.
-
-(v. November 17, 2021)
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
+
+ "Source" form shall mean the preferred form for making modifications,
+ including but not limited to software source code, documentation
+ source, and configuration files.
+
+ "Object" form shall mean any form resulting from mechanical
+ transformation or translation of a Source form, including but
+ not limited to compiled object code, generated documentation,
+ and conversions to other media types.
+
+ "Work" shall mean the work of authorship, whether in Source or
+ Object form, made available under the License, as indicated by a
+ copyright notice that is included in or attached to the work
+ (an example is provided in the Appendix below).
+
+ "Derivative Works" shall mean any work, whether in Source or Object
+ form, that is based on (or derived from) the Work and for which the
+ editorial revisions, annotations, elaborations, or other modifications
+ represent, as a whole, an original work of authorship. For the purposes
+ of this License, Derivative Works shall not include works that remain
+ separable from, or merely link (or bind by name) to the interfaces of,
+ the Work and Derivative Works thereof.
+
+ "Contribution" shall mean any work of authorship, including
+ the original version of the Work and any modifications or additions
+ to that Work or Derivative Works thereof, that is intentionally
+ submitted to Licensor for inclusion in the Work by the copyright owner
+ or by an individual or Legal Entity authorized to submit on behalf of
+ the copyright owner. For the purposes of this definition, "submitted"
+ means any form of electronic, verbal, or written communication sent
+ to the Licensor or its representatives, including but not limited to
+ communication on electronic mailing lists, source code control systems,
+ and issue tracking systems that are managed by, or on behalf of, the
+ Licensor for the purpose of discussing and improving the Work, but
+ excluding communication that is conspicuously marked or otherwise
+ designated in writing by the copyright owner as "Not a Contribution."
+
+ "Contributor" shall mean Licensor and any individual or Legal Entity
+ on behalf of whom a Contribution has been received by Licensor and
+ subsequently incorporated within the Work.
+
+ 2. Grant of Copyright License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ copyright license to reproduce, prepare Derivative Works of,
+ publicly display, publicly perform, sublicense, and distribute the
+ Work and such Derivative Works in Source or Object form.
+
+ 3. Grant of Patent License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ (except as stated in this section) patent license to make, have made,
+ use, offer to sell, sell, import, and otherwise transfer the Work,
+ where such license applies only to those patent claims licensable
+ by such Contributor that are necessarily infringed by their
+ Contribution(s) alone or by combination of their Contribution(s)
+ with the Work to which such Contribution(s) was submitted. If You
+ institute patent litigation against any entity (including a
+ cross-claim or counterclaim in a lawsuit) alleging that the Work
+ or a Contribution incorporated within the Work constitutes direct
+ or contributory patent infringement, then any patent licenses
+ granted to You under this License for that Work shall terminate
+ as of the date such litigation is filed.
+
+ 4. Redistribution. You may reproduce and distribute copies of the
+ Work or Derivative Works thereof in any medium, with or without
+ modifications, and in Source or Object form, provided that You
+ meet the following conditions:
+
+ (a) You must give any other recipients of the Work or
+ Derivative Works a copy of this License; and
+
+ (b) You must cause any modified files to carry prominent notices
+ stating that You changed the files; and
+
+ (c) You must retain, in the Source form of any Derivative Works
+ that You distribute, all copyright, patent, trademark, and
+ attribution notices from the Source form of the Work,
+ excluding those notices that do not pertain to any part of
+ the Derivative Works; and
+
+ (d) If the Work includes a "NOTICE" text file as part of its
+ distribution, then any Derivative Works that You distribute must
+ include a readable copy of the attribution notices contained
+ within such NOTICE file, excluding those notices that do not
+ pertain to any part of the Derivative Works, in at least one
+ of the following places: within a NOTICE text file distributed
+ as part of the Derivative Works; within the Source form or
+ documentation, if provided along with the Derivative Works; or,
+ within a display generated by the Derivative Works, if and
+ wherever such third-party notices normally appear. The contents
+ of the NOTICE file are for informational purposes only and
+ do not modify the License. You may add Your own attribution
+ notices within Derivative Works that You distribute, alongside
+ or as an addendum to the NOTICE text from the Work, provided
+ that such additional attribution notices cannot be construed
+ as modifying the License.
+
+ You may add Your own copyright statement to Your modifications and
+ may provide additional or different license terms and conditions
+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
+ the brackets!) The text should be enclosed in the appropriate
+ comment syntax for the file format. We also recommend that a
+ file or class name and description of purpose be included on the
+ same "printed page" as the copyright notice for easier
+ identification within third-party archives.
+
+ Copyright [yyyy] [name of copyright owner]
+
+ 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.
\ No newline at end of file
diff --git a/README.md b/README.md
index d264c8a..7316ae9 100644
--- a/README.md
+++ b/README.md
@@ -1,27 +1,31 @@
# Isaac ROS Apriltag
5.5ms | 82 fps
14ms | 600 fps
2ms |
+
+These data have been collected per the methodology described [here](https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/performance-summary.md#methodology).
## Table of Contents
+
- [Isaac ROS Apriltag](#isaac-ros-apriltag)
- [Overview](#overview)
- [Isaac ROS NITROS Acceleration](#isaac-ros-nitros-acceleration)
@@ -49,36 +53,39 @@ The performance results of benchmarking the prepared pipelines in this package o
- [Updates](#updates)
## Latest Update
-Update 2022-08-31: Update to be compatible with JetPack 5.0.2
+
+Update 2022-10-19: Updated OSS licensing
## 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/)
[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/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
-
+| Platform | Hardware | Software | Notes |
+| -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[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/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
### Docker
+
To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following [these steps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md). This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms.
> **Note:** All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite.
-
## Quickstart
+
1. Set up your development environment by following the instructions [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md).
2. Clone this repository and its dependencies under `~/workspaces/isaac_ros-dev/src`.
+
```bash
cd ~/workspaces/isaac_ros-dev/src
```
```bash
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common
- ```
-
+ ```
+
```bash
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros
```
@@ -86,10 +93,11 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
```bash
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag
```
-
+
```bash
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline
```
+
3. Pull down a ROS Bag of sample data:
```bash
@@ -98,64 +106,87 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock
```
4. Launch the Docker container using the `run_dev.sh` script:
+
```bash
cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
./scripts/run_dev.sh
```
+
5. Inside the container, build and source the workspace:
+
```bash
cd /workspaces/isaac_ros-dev && \
colcon build --symlink-install && \
source install/setup.bash
```
+
6. (Optional) Run tests to verify complete and correct installation:
+
```bash
colcon test --executor sequential
```
-7. Run the following launch files to spin up a demo of this package:
+
+7. Run the following launch files to spin up a demo of this package:
+
```bash
ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
```
+
8. Open a **second** terminal inside the docker container:
+
```bash
cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
./scripts/run_dev.sh
```
+
9. Run the rosbag file to simulate an image stream:
+
```bash
ros2 bag play --loop src/isaac_ros_apriltag/resources/rosbags/quickstart.bag
```
+
10. Open a **third** terminal inside the docker container:
+
```bash
cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
./scripts/run_dev.sh
```
-11. Observe the AprilTag detection output `/tag_detections` on a separate terminal with the command:
+
+11. Observe the AprilTag detection output `/tag_detections` on a separate terminal with the command:
+
```bash
source install/setup.bash && \
ros2 topic echo /tag_detections
```
### Configuration
+
You will need to calibrate the intrinsics of your camera if you want the node to determine 3D poses for tags instead of just detection and corners as 2D pixel coordinates. See [here](https://navigation.ros.org/tutorials/docs/camera_calibration.html) for more details.
## Next Steps
+
### Try More Examples
+
To continue your exploration, check out the following suggested examples:
+
- [Tutorial with a USB camera](./docs/tutorial-usb-cam.md)
- [Tutorial with Isaac Sim](./docs/tutorial-isaac-sim.md)
### Try NITROS-Accelerated Graph with Argus
+
If you have an Argus-compatible camera, you can launch the NITROS-accelerated graph by following the [tutorial](./docs/tutorial-nitros-graph.md).
### Customize your Dev Environment
+
To customize your development environment, reference [this guide](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/modify-dockerfile.md).
## Replacing `apriltag_ros` with `isaac_ros_apriltag`
+
1. Add a dependency on `isaac_ros_apriltag` to `your_package/package.xml` and `your_package/CMakeLists.txt`. The original `apriltag_ros` dependency may be removed entirely.
2. Change the package and plugin names in any `*.launch.py` launch files to use `isaac_ros_apriltag` and `nvidia::isaac_ros::apriltag::AprilTagNode`, respectively.
### Supported Packages
+
At this time, the packages under the standard `apriltag_ros` have the following support:
| Existing Package | Isaac ROS Alternative |
@@ -164,6 +195,7 @@ At this time, the packages under the standard `apriltag_ros` have the following
| `image_pipeline` | See `isaac_ros_image_pipeline` |
## Package Reference
+
### `isaac_ros_apriltag`
#### Usage
@@ -174,33 +206,36 @@ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py --ros-args -p size:=
#### ROS Parameters
-| ROS Parameter | Type | Default | Description |
-| ------------- | -------- | ------- | ----------------------------------------------------------------------- |
-| `size` | `double` | `0.22` | The tag edge size in meters, assuming square markers.
E.g. `0.22` |
-| `max_tags` | `int` | `64` | The maximum number of tags to be detected.
E.g. `64` |
+| ROS Parameter | Type | Default | Description |
+| ------------- | -------- | ------- | ---------------------------------------------------------------------- |
+| `size` | `double` | `0.22` | The tag edge size in meters, assuming square markers.
E.g. `0.22` |
+| `max_tags` | `int` | `64` | The maximum number of tags to be detected.
E.g. `64` |
#### ROS Topics Subscribed
+
| ROS Topic | Interface | Description |
| ------------- | -------------------------------------------------------------------------------------------------------------- | ----------------------------------- |
| `image` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | The input camera stream. |
| `camera_info` | [sensor_msgs/CameraInfo](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/CameraInfo.msg) | The input camera intrinsics stream. |
#### ROS Topics Published
+
| ROS Topic | Type | Description |
| ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------- |
| `tag_detections` | [isaac_ros_apriltag_interfaces/AprilTagDetectionArray](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_apriltag_interfaces/msg/AprilTagDetectionArray.msg) | The detection message array. |
| `tf` | [tf2_msgs/TFMessage](https://github.com/ros2/geometry2/blob/ros2/tf2_msgs/msg/TFMessage.msg) | Pose of all detected apriltags(`TagFamily:ID`) wrt to the camera topic frame_id. |
## Troubleshooting
-### Isaac ROS Troubleshooting
-For solutions to problems with Isaac ROS, please check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/troubleshooting.md).
+### Isaac ROS Troubleshooting
+For solutions to problems with Isaac ROS, please check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/troubleshooting.md).
# Updates
| Date | Changes |
| ---------- | --------------------------------------------------------------------------------------- |
+| 2022-10-19 | Updated OSS licensing |
| 2022-08-31 | Update to be compatible with JetPack 5.0.2 |
| 2022-06-30 | Update to use NITROS for improved performance |
| 2021-11-15 | Isaac Sim HIL documentation update |
diff --git a/docs/tutorial-isaac-sim.md b/docs/tutorial-isaac-sim.md
index 23325e1..97dc084 100644
--- a/docs/tutorial-isaac-sim.md
+++ b/docs/tutorial-isaac-sim.md
@@ -1,35 +1,61 @@
-# Tutorial with Isaac Sim
+# Tutorial for AprilTag Detection with Isaac Sim
+
+
- `rviz2`
-8. Add the tf tree in the **Displays** RViz panel.
