Merge pull request #50 from NVIDIA-ISAAC-ROS/release-3.1

Isaac ROS 3.1

README.md

@@ -115,4 +115,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-05-30: Added FoundationPose pose estimation package
+Update 2024-09-26: Update for ZED compatibility

isaac_ros_centerpose/package.xml

@@ -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_centerpose</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>CenterPose: Pose Estimation using Deep Learning</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_dope/package.xml

@@ -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_dope</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Deep learning based pose estimation</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim_tracking.launch.py

@@ -244,12 +244,6 @@ def generate_launch_description():
     )
 
     # Convert Detection2DArray from RT-DETR to a binary segmentation mask
-    detection2_d_array_filter_node = ComposableNode(
-        name='detection2_d_array_filter',
-        package='isaac_ros_foundationpose',
-        plugin='nvidia::isaac_ros::foundationpose::Detection2DArrayFilter',
-        remappings=[('detection2_d_array', 'detections_output')]
-    )
     detection2_d_to_mask_node = ComposableNode(
         name='detection2_d_to_mask',
         package='isaac_ros_foundationpose',
@@ -427,7 +421,6 @@ def generate_launch_description():
             rtdetr_preprocessor_node,
             tensor_rt_node,
             rtdetr_decoder_node,
-            detection2_d_array_filter_node,
             detection2_d_to_mask_node,
             resize_mask_node,
             resize_left_ess_size,

isaac_ros_foundationpose/package.xml

@@ -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_foundationpose</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>FoundationPose 6D pose estimation</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_foundationpose/rviz/foundationpose_zed.rviz

@@ -0,0 +1,201 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5001519322395325
+    Tree Height: 624
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Camera
+      Enabled: true
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rgb/image_rect_color_viz
+      Value: true
+      Visibility:
+        Detection3DArray: true
+        Grid: true
+        Image: true
+        Value: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Class: vision_msgs_rviz_plugins/Detection3DArray
+      ConfigPath: ""
+      Enabled: true
+      Line Width: 0.05000000074505806
+      Name: Detection3DArray
+      Namespaces:
+        bounding_box: true
+      Only Edge: false
+      Show Score: false
+      Topic:
+        Depth: 1
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /output
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: false
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rt_detr_segmentation
+      Value: false
+    - Class: rviz_default_plugins/Image
+      Enabled: false
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /segmentation
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: zed2_camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: -0.9897971153259277
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7003983855247498
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 2272
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000006ea000007f1fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000690000035e0000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000003d3000004870000004500fffffffb0000000a0049006d006100670065000000068f000000d10000004500fffffffb0000000a0049006d006100670065000000074f0000010b0000004500ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f10000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7400000051fc0100000002fb0000000800540069006d0065010000000000000e740000046000fffffffb0000000800540069006d006501000000000000045000000000000000000000077e000007f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 3700
+  X: 140
+  Y: 54

isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gxf_isaac_centerpose</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>GXF extension containing CenterPose pose estimation related components.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gxf_isaac_dope</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>GXF extension containing CenterPose pose estimation related components.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gxf_isaac_foundationpose</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>GXF extension containing Foundation Pose estimation related components.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>