Merge pull request #23 from NVIDIA-ISAAC-ROS/hotfix-release-3.0-9a402633

Update links

public/_sources/concepts/object_detection/rtdetr/tutorial_isaac_sim.rst.txt

@@ -8,7 +8,7 @@ Overview
 
 .. note::
 
-    This tutorial detects the Mac and Cheese Box mentioned in the `SyntheticaDETR Object Classes section <https://registry.ngc.nvidia.com/orgs/nvstaging/teams/isaac/models/synthetica_detr>`__. In order to detect other objects from ``SyntheticaDETR Object Classes``, you need to create a mesh and replace the ``mesh_file_path`` and ``texture_path`` arguments to this tutorials launch file with the mesh you generated. The tutorial on how to create a mesh using an iPhone can be found :doc:`here </concepts/pose_estimation/foundationpose/tutorial_create_your_own_mesh>`. In order to detect other objects not supported by ``SyntheticaDETR``, you will have to modify the launch file and replace the 2D object detection pipeline with one that supports the object you are trying to detect.
+    This tutorial detects the Mac and Cheese Box mentioned in the :ir_ngc:`SyntheticaDETR Object Classes section <teams/isaac/models/synthetica_detr>`. In order to detect other objects from ``SyntheticaDETR Object Classes``, you need to create a mesh and replace the ``mesh_file_path`` and ``texture_path`` arguments to this tutorials launch file with the mesh you generated. The tutorial on how to create a mesh using an iPhone can be found :doc:`here </concepts/pose_estimation/foundationpose/tutorial_create_your_own_mesh>`. In order to detect other objects not supported by ``SyntheticaDETR``, you will have to modify the launch file and replace the 2D object detection pipeline with one that supports the object you are trying to detect.
 
 Tutorial Walkthrough
 --------------------

public/_sources/concepts/pose_estimation/foundationpose/tutorial_isaac_sim.rst.txt

@@ -12,7 +12,7 @@ Overview
 
 .. note::
 
-    This tutorial detects the 3D pose of the Mac and Cheese Box mentioned in the `SyntheticaDETR Object Classes section <https://registry.ngc.nvidia.com/orgs/nvstaging/teams/isaac/models/synthetica_detr>`__. In order to detect other objects from ``SyntheticaDETR Object Classes``, you need to create a mesh and replace the ``mesh_file_path`` and ``texture_path`` arguments to this tutorials launch file with the mesh you generated. The tutorial on how to create a mesh using an iPhone can be found :doc:`here </concepts/pose_estimation/foundationpose/tutorial_create_your_own_mesh>`. In order to detect other objects not supported by ``SyntheticaDETR``, you will have to modify the launch file and replace the 2D object detection pipeline with one that supports the object you are trying to detect.
+    This tutorial detects the 3D pose of the Mac and Cheese Box mentioned in the :ir_ngc:`SyntheticaDETR Object Classes section <teams/isaac/models/synthetica_detr>`. In order to detect other objects from ``SyntheticaDETR Object Classes``, you need to create a mesh and replace the ``mesh_file_path`` and ``texture_path`` arguments to this tutorials launch file with the mesh you generated. The tutorial on how to create a mesh using an iPhone can be found :doc:`here </concepts/pose_estimation/foundationpose/tutorial_create_your_own_mesh>`. In order to detect other objects not supported by ``SyntheticaDETR``, you will have to modify the launch file and replace the 2D object detection pipeline with one that supports the object you are trying to detect.
 
 Tutorial Walkthrough
 --------------------

public/_sources/concepts/scene_reconstruction/nvblox/tutorials/tutorial_realsense.rst.txt

@@ -94,7 +94,7 @@ data coming from a ROSbag.
 
         .. tab:: On a ROSbag
 
-          1. Download the  `r2b_galileo2 <https://registry.ngc.nvidia.com/orgs/nvstaging/teams/isaac/resources/r2bdataset2024/files>`__ rosbag from the r2b dataset or :ref:`record your own bag. <concepts/scene_reconstruction/nvblox/tutorials/tutorial_realsense:Recording Data With RealSense>`
+          1. Download the :ir_ngc:`r2b_galileo2 <teams/isaac/resources/r2bdataset2024/files>` rosbag from the r2b dataset or :ref:`record your own bag. <concepts/scene_reconstruction/nvblox/tutorials/tutorial_realsense:Recording Data With RealSense>`
 
           2. Launch the rosbag:
 

public/_sources/reference_workflows/isaac_perceptor/run_perceptor_on_devkit.rst.txt

@@ -24,53 +24,27 @@ The developer kit can be mounted using either a tripod mount or the general
 purpose hole pattern on its bottom. Recommended mounting hole positions can be found
 in the `Nova Orin DevKit Quick Start Guide` from Segway.
 
-
-To account for the mounting location when running `Isaac Perceptor`, a custom URDF file needs to be passed.
-Per default, the :ir_repo:`nova_developer_kit.urdf.xacro <nova_developer_kit> <nova_developer_kit_description/urdf/nova_developer_kit.urdf.xacro>`
+To account for the mounting location when running `Isaac Perceptor`, a robot URDF file needs to be
+provided. Otherwise the :ir_repo:`nova_developer_kit.urdf.xacro <nova_developer_kit> <nova_developer_kit_description/urdf/nova_developer_kit.urdf.xacro>`
 is used, which assumes that the `Nova Orin Developer Kit` is initialized on the ground plane.
-To define your own URDF file, you can use the following code snippet and store it at a suitable ``urdf_file_path``:
-
-.. code-block:: xml
-
-    <?xml version="1.0"?>
-    <robot name="please_specify_robot_name" xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:arg name="robot_namespace" default="/"/> 
-    <xacro:include filename="$(find nova_developer_kit_description)/urdf/nova_developer_kit_macro.urdf.xacro"/>
-
-    <link name="base_link"/>
-    <xacro:nova_developer_kit name="nova_developer_kit" parent="base_link" mount_is_root="true">
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-    </xacro:nova_developer_kit>
-    </robot>
 
-    <!-- Your Robot Description goes here. -->
+It is **recommended to follow the**
+:doc:`calibration instructions</robots/nova_carter/demo_calibration>`. The output of calibration is
+stored in a default location in the robot (``/etc/nova/calibration/isaac_calibration.urdf``), and
+`Isaac Perceptor` will use it without requiring any additional arguments:
 
-The fields `xyz` and `rpy` parametrize the transformation between the
-`Nova Orin Developer Kit` and the provided parent link (e.g. `base_link`). Specifically, the field `xyz`
-represents a 3D translation in meters, and the field `rpy` represents a rotation as fixed-axis Euler
-angles in radians: roll, pitch and yaw, respectively.
-
-The field `mount_is_root` must be set to `true` if the transformation is provided with respect to
-the `Nova Orin Developer Kit` mount point (center screw of the lower plate), or `false` if the
-transformation refers to the `Nova Orin Developer Kit` main link (center-front of the module).
-
-For example, if you are mounting the `Nova Orin Developer Kit` such that its center-front point is at a
-height of `Z = 0.4 m` above the robot origin and `X = -0.1 m` behind it, the root link origin should
-be adjusted accordingly:
-
-.. code-block:: xml
+.. code:: bash
 
-    ...
-    <xacro:nova_developer_kit name="nova_developer_kit" parent="base_link" mount_is_root="false">
-        <origin xyz="-0.1 0.0 0.4" rpy="0.0 0.0 0.0"/>
-    ...
+    ros2 launch nova_developer_kit_bringup perceptor.launch.py
 
-Your custom URDF file can then be passed with the `urdf_override_file` argument to `Isaac Perceptor`:
+Alternatively, the :ref:`Nominal values and URDF file generation<robot-urdf-with-nova-developer-kit>`
+section details the process to create a robot nominals URDF file (``urdf_nominals_file_path``). The
+robot nominals URDF file can then be passed with the `urdf_override_file` argument to `Isaac Perceptor`:
 
 .. code:: bash
 
     ros2 launch nova_developer_kit_bringup perceptor.launch.py \
-        urdf_override_file:=<"urdf_file_path">
+        urdf_override_file:=<"urdf_nominals_file_path">
 
 Powering On the `Nova Orin Developer Kit`
 ------------------------------------------

public/_sources/reference_workflows/isaac_perceptor/tutorials_on_devkit/demo_navigation.rst.txt

@@ -46,9 +46,7 @@ essential steps to replace the lidar-based local perception with camera-based 3D
 from `Isaac Perceptor`.
 
 Lastly, it is assumed that you have rigidly mounted the `Nova Orin Developer Kit` on
-your own robot, and an accurate URDF file has been obtained encoding the transformation between
-`Nova Orin Developer Kit` and the robot origin
-(:doc:`Mounting the Nova Orin Developer Kit on a Robot </reference_workflows/isaac_perceptor/run_perceptor_on_devkit>`).
+your own robot and successfully completed :doc:`calibration</robots/nova_carter/demo_calibration>`.
 
 Instructions
 ------------

public/_sources/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_image_proc/index.rst.txt

@@ -565,7 +565,7 @@ ROS Parameters
    * - ``border_type``
      - ``string``
      - ``CONSTANT``
-     - Describes how border values are calculated. Valid values are - ``CONSTANT``, ``REPLICATE``, ``REFLECT``, ``WRAP``, and ``REFLECT101``. More info can be found `here <https://cvcuda.github.io/CV-CUDA/_exhale_api/enum_BorderType_8h_1a47d27ddb621b5837b703742548a1b263.html#BorderType_8h_1a47d27ddb621b5837b703742548a1b263>`__.
+     - Describes how border values are calculated. Valid values are - ``CONSTANT``, ``REPLICATE``, ``REFLECT``, ``WRAP``, and ``REFLECT101``. More info can be found `here <https://cvcuda.github.io/CV-CUDA/_python_api/_cvcuda_api/_aux_border.html>`__.
 
    * - ``border_pixel_color_value``
      - ``std::vector<double>``

public/_sources/robots/isaac_perceptor_mounting_guide/sensor_arch_general.rst.txt

@@ -127,4 +127,60 @@ and
 :ir_repo:`owl_macro.urdf.xacro <isaac_ros_nova> <owl_description/urdf/owl_macro.urdf.xacro>`,
 respectively.
 The reader is advised to download Hawk and Owl specifications and 3D
-models to cross-check these numbers.
+models to cross-check these numbers.
+
+**URDF Mounting the Nova Orin Developer Kit on a Robot**
+
+.. _robot-urdf-with-nova-developer-kit:
+
+If the `Nova Orin Developer Kit` is mounted on a robot, the user must provide a URDF encoding its
+position on the robot.
+
+It is recommended to follow the self-contained
+:doc:`calibration instructions</robots/nova_carter/demo_calibration>`. The output of calibration is
+stored in a default location in the robot, and Isaac Perceptor will use it without requiring any
+additional arguments.
+
+Alternatively, the remaining of this section details how to create a robot nominals URDF file
+(``urdf_nominals_file_path``) to be used with Isaac Perceptor. Note that the steps below
+shall not be followed if performing calibration. The instructions 
+:doc:`Isaac Perceptor on a Robot with the Nova Orin Developer Kit</reference_workflows/isaac_perceptor/run_perceptor_on_devkit>`
+detail how to provide the ``urdf_nominals_file_path`` to  Isaac Perceptor.
+
+To define your own URDF nominals file to use in Isaac Perceptor, you can use the following code
+snippet and store it at a suitable ``urdf_nominals_file_path``:
+
+.. code-block:: xml
+
+    <?xml version="1.0"?>
+    <robot name="please_specify_robot_name" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="robot_namespace" default="/"/> 
+    <xacro:include filename="$(find nova_developer_kit_description)/urdf/nova_developer_kit_macro.urdf.xacro"/>
+
+    <link name="base_link"/>
+    <xacro:nova_developer_kit name="nova_developer_kit" parent="base_link" mount_is_root="true">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:nova_developer_kit>
+    </robot>
+
+    <!-- Your Robot Description goes here. -->
+
+The fields `xyz` and `rpy` parametrize the transformation between the
+`Nova Orin Developer Kit` and the provided parent link (e.g. `base_link`). Specifically, the field `xyz`
+represents a 3D translation in meters, and the field `rpy` represents a rotation as fixed-axis Euler
+angles in radians: roll, pitch and yaw, respectively.
+
+The field `mount_is_root` must be set to `true` if the transformation is provided with respect to
+the `Nova Orin Developer Kit` mount point (center screw of the lower plate), or `false` if the
+transformation refers to the `Nova Orin Developer Kit` main link (center-front of the module).
+
+For example, if you are mounting the `Nova Orin Developer Kit` such that its center-front point is at a
+height of `Z = 0.4 m` above the robot origin and `X = -0.1 m` behind it, the root link origin should
+be adjusted accordingly:
+
+.. code-block:: xml
+
+    ...
+    <xacro:nova_developer_kit name="nova_developer_kit" parent="base_link" mount_is_root="false">
+        <origin xyz="-0.1 0.0 0.4" rpy="0.0 0.0 0.0"/>
+    ...

public/about/contact.html

@@ -2782,7 +2782,7 @@ <h1>Contact<a class="headerlink" href="#contact" title="Link to this heading">
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/about/index.html

@@ -2787,7 +2787,7 @@ <h1>About<a class="headerlink" href="#about" title="Link to this heading"></a
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/about/license.html

@@ -2782,7 +2782,7 @@ <h1>License<a class="headerlink" href="#license" title="Link to this heading">
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/about/synthetic_data_attributions.html

@@ -4665,7 +4665,7 @@ <h1>Synthetic Data Attributions<a class="headerlink" href="#synthetic-data-attri
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/blog/index.html

@@ -2882,7 +2882,7 @@ <h2>ROS Discourse<a class="headerlink" href="#ros-discourse" title="Link to this
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/commit.txt

@@ -1 +1 @@
-Isaac ROS Docs Commit: 3f221787
+Isaac ROS Docs Commit: 9a402633

public/concepts/benchmarking/index.html

@@ -3198,7 +3198,7 @@ <h2>Repositories and Packages<a class="headerlink" href="#repositories-and-packa
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/compression/h264/tutorial_compatible_decode.html

@@ -2865,7 +2865,7 @@ <h2>Tutorial Walkthrough<a class="headerlink" href="#tutorial-walkthrough" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/dnn_inference/index.html

@@ -2832,7 +2832,7 @@ <h2>Repositories and Packages<a class="headerlink" href="#repositories-and-packa
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/dnn_inference/model_preparation.html

@@ -2982,7 +2982,7 @@ <h3>Using a TensorRT Plan File<a class="headerlink" href="#using-a-tensorrt-plan
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/dnn_inference/tensorrt_and_triton_info.html

@@ -2856,7 +2856,7 @@ <h2>Further Reading<a class="headerlink" href="#further-reading" title="Link to
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/docker_devenv/index.html

@@ -2918,7 +2918,7 @@ <h3>Using <code class="docutils literal notranslate"><span class="pre">docker_de
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/fiducials/apriltag/tutorial_apriltag_ros1_bridge.html

@@ -2880,7 +2880,7 @@ <h2>Tutorial Walkthrough<a class="headerlink" href="#tutorial-walkthrough" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/fiducials/apriltag/tutorial_isaac_sim.html

@@ -2834,7 +2834,7 @@ <h2>Tutorial Walkthrough<a class="headerlink" href="#tutorial-walkthrough" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/fiducials/apriltag/tutorial_usb_cam.html

@@ -2853,7 +2853,7 @@ <h2>Tutorial Walkthrough<a class="headerlink" href="#tutorial-walkthrough" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/index.html

@@ -2878,7 +2878,7 @@ <h1>Concepts<a class="headerlink" href="#concepts" title="Link to this heading">
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/jetson_stats/index.html

@@ -2810,7 +2810,7 @@ <h2>Resources<a class="headerlink" href="#resources" title="Link to this heading
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/localization/lidar/tutorial_isaac_sim.html

@@ -2842,7 +2842,7 @@ <h2>Tutorial Walkthrough<a class="headerlink" href="#tutorial-walkthrough" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/manipulation/cumotion_moveit/tutorial_isaac_sim.html

@@ -2917,7 +2917,7 @@ <h2>Tutorial Walkthrough<a class="headerlink" href="#tutorial-walkthrough" title
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/manipulation/index.html

@@ -2855,7 +2855,7 @@ <h2>Robot Configuration<a class="headerlink" href="#robot-configuration" title="
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/manipulation/xrdf.html

@@ -3224,7 +3224,7 @@ <h2>XRDF Example<a class="headerlink" href="#xrdf-example" title="Link to this h
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/missions/index.html

@@ -2860,7 +2860,7 @@ <h2>References<a class="headerlink" href="#references" title="Link to this headi
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/missions/isaac_ros_mission_client.html

@@ -2954,7 +2954,7 @@ <h2>Troubleshooting<a class="headerlink" href="#troubleshooting" title="Link to
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/nitros/cuda_with_nitros.html

@@ -2998,7 +2998,7 @@ <h3>Managed NITROS Message Filter Synchronization<a class="headerlink" href="#ma
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>
 

public/concepts/nitros/index.html

@@ -2965,7 +2965,7 @@ <h2>Repositories and Packages<a class="headerlink" href="#repositories-and-packa
 
   <div role="contentinfo">
     <p>&#169; Copyright 2023-2024, NVIDIA.
-      <span class="lastupdated">Last updated on Jun 14, 2024.
+      <span class="lastupdated">Last updated on Jul 12, 2024.
       </span></p>
   </div>