Merge pull request #148 from NVIDIA-ISAAC-ROS/release-3.1

Isaac ROS 3.1

README.md

@@ -31,4 +31,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-05-30: Update to be compatible with JetPack 6.0
+Update 2024-09-26: Updated for Isaac ROS 3.1

docker/Dockerfile.aarch64

@@ -136,14 +136,14 @@ RUN python3 -m pip install -U \
     scikit-learn \
     ninja \
     networkx \
-    "numpy<2" \
+    "numpy>=1.24.4,<2" \
     numpy-quaternion \
     pyyaml \
-    setuptools_scm>=6.2 \
+    "setuptools_scm>=6.2" \
     trimesh \
-    yourdfpy>=0.0.53 \
-    warp-lang>=0.9.0 \
-    scipy>=1.7.0 \
+    "yourdfpy>=0.0.53" \
+    "warp-lang>=0.9.0" \
+    "scipy>=1.7.0" \
     tqdm \
     importlib_resources
 
@@ -202,7 +202,7 @@ apt-get update && apt-get install -y --no-install-recommends \
     libopenblas-dev \
     libarchive-dev
 
-RUN  --mount=type=cache,target=/var/cache/apt \
+RUN --mount=type=cache,target=/var/cache/apt \
     cd /opt \
     && wget https://github.com/triton-inference-server/server/releases/download/v2.40.0/tritonserver2.40.0-igpu.tar.gz \
     && tar -xzvf tritonserver2.40.0-igpu.tar.gz \
@@ -243,4 +243,4 @@ RUN python3 -m pip install -U \
     jetson-stats
 
 # Store list of packages (must be last)
-RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-end-packages.csv
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-end-packages.csv

docker/Dockerfile.ros2_humble

@@ -63,7 +63,6 @@ RUN python3 -m pip install -U \
         flake8-docstrings \
         flake8-import-order \
         flake8-quotes \
-        numpy>=1.24.4 \
         matplotlib \
         pandas \
         rosbags \
@@ -84,6 +83,7 @@ apt-get update && apt-get install -y \
     ros-humble-cv-bridge \
     ros-humble-demo-nodes-cpp \
     ros-humble-demo-nodes-py \
+    ros-humble-diagnostics \
     ros-humble-diagnostic-aggregator \
     ros-humble-diagnostic-updater \
     ros-humble-example-interfaces \
@@ -111,6 +111,7 @@ apt-get update && apt-get install -y \
     ros-humble-rosbag2-py \
     ros-humble-rosbag2-storage-mcap \
     ros-humble-rosbridge-suite \
+    ros-humble-rosx-introspection \
     ros-humble-rqt-graph \
     ros-humble-rqt-image-view \
     ros-humble-rqt-reconfigure \
@@ -130,6 +131,7 @@ COPY rosdep/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml
 RUN --mount=type=cache,target=/var/cache/apt \
     rosdep init \
     && echo "yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml" | tee /etc/ros/rosdep/sources.list.d/00-nvidia-isaac.list \
+    && sed -i 's|gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte||g' /etc/ros/rosdep/sources.list.d/20-default.list \
     && rosdep update
 
 ####### -- Install updated packages over installed debians

docker/Dockerfile.x86_64

@@ -104,19 +104,20 @@ RUN python3 -m pip install -U \
         flake8-docstrings \
         flake8-import-order \
         flake8-quotes \
+        gpustat==0.6.0 \
         onnx \
         pydocstyle \
         scikit-learn \
         ninja \
         networkx \
-        "numpy<2" \
+        "numpy>=1.24.4,<2" \
         numpy-quaternion \
         pyyaml \
-        setuptools_scm>=6.2 \
+        "setuptools_scm>=6.2" \
         trimesh \
-        yourdfpy>=0.0.53 \
-        warp-lang>=0.9.0 \
-        scipy>=1.7.0 \
+        "yourdfpy>=0.0.53" \
+        "warp-lang>=0.9.0" \
+        "scipy>=1.7.0" \
         tqdm \
         importlib_resources
 
@@ -172,4 +173,4 @@ apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
         mosquitto-clients
 
 # Store list of packages (must be last)
-RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/x86_64-end-packages.csv
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/x86_64-end-packages.csv

docker/Dockerfile.zed

@@ -0,0 +1,41 @@
+# Copyright (c) 2023, NVIDIA CORPORATION.  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.
+
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+ARG ZED_SDK_MAJOR=4
+ARG ZED_SDK_MINOR=0
+
+# zed-ros2-wrapper dependencies
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+    libgeographic-dev  \
+    ros-humble-geographic-info \
+    ros-humble-nmea-msgs \
+    ros-humble-robot-localization \
+    ros-humble-xacro
+
+# The zed installation script expects to be run as non-root user and needs the USER ENV variable to be set
+ENV USER=${USERNAME}
+USER ${USERNAME}
+
+COPY scripts/install-zed-x86_64.sh /opt/zed/install-zed-x86_64.sh
+COPY scripts/install-zed-aarch64.sh /opt/zed/install-zed-aarch64.sh
+
+RUN --mount=type=cache,target=/var/cache/apt \
+  if [ "$(uname -m)" = "x86_64" ]; then \
+    sudo chmod +x /opt/zed/install-zed-x86_64.sh; \
+    /opt/zed/install-zed-x86_64.sh; \
+  else \
+    sudo chmod +x /opt/zed/install-zed-aarch64.sh; \
+    /opt/zed/install-zed-aarch64.sh; \
+  fi
+
+# Revert to root user
+USER root

docker/rosdep/extra_rosdeps.yaml

@@ -2459,14 +2459,6 @@ gxf_isaac_video_buffer_utils:
   ubuntu:
     focal: [ros-humble-gxf-isaac-video-buffer-utils]
     jammy: [ros-humble-gxf-isaac-video-buffer-utils]
-h264_image_transport:
-  ubuntu:
-    focal: [ros-humble-h264-image-transport]
-    jammy: [ros-humble-h264-image-transport]
-h264_msgs:
-  ubuntu:
-    focal: [ros-humble-h264-msgs]
-    jammy: [ros-humble-h264-msgs]
 hardware_interface:
   ubuntu:
     focal: [ros-humble-hardware-interface]
@@ -3323,10 +3315,6 @@ isaac_ros_test:
   ubuntu:
     focal: [ros-humble-isaac-ros-test]
     jammy: [ros-humble-isaac-ros-test]
-isaac_ros_to_h264_msgs_packet:
-  ubuntu:
-    focal: [ros-humble-isaac-ros-to-h264-msgs-packet]
-    jammy: [ros-humble-isaac-ros-to-h264-msgs-packet]
 isaac_ros_triton:
   ubuntu:
     focal: [ros-humble-isaac-ros-triton]
@@ -3379,6 +3367,10 @@ isaac_ros_yolov8:
   ubuntu:
     focal: [ros-humble-isaac-ros-yolov8]
     jammy: [ros-humble-isaac-ros-yolov8]
+isaac_ros_zed:
+  ubuntu:
+    focal: [ros-humble-isaac-ros-zed]
+    jammy: [ros-humble-isaac-ros-zed]
 isaac_ros_zed_test:
   ubuntu:
     focal: [ros-humble-isaac-ros-zed-test]
@@ -5653,6 +5645,10 @@ proxsuite:
   ubuntu:
     focal: [ros-humble-proxsuite]
     jammy: [ros-humble-proxsuite]
+py_binding_tools:
+  ubuntu:
+    focal: [ros-humble-py-binding-tools]
+    jammy: [ros-humble-py-binding-tools]
 py_trees:
   ubuntu:
     focal: [ros-humble-py-trees]
@@ -6629,10 +6625,6 @@ ros2_controllers_test_nodes:
   ubuntu:
     focal: [ros-humble-ros2-controllers-test-nodes]
     jammy: [ros-humble-ros2-controllers-test-nodes]
-ros2_h264_encoder:
-  ubuntu:
-    focal: [ros-humble-ros2-h264-encoder]
-    jammy: [ros-humble-ros2-h264-encoder]
 ros2_socketcan:
   ubuntu:
     focal: [ros-humble-ros2-socketcan]

docker/scripts/install-zed-aarch64.sh

@@ -7,7 +7,7 @@ sudo apt-get install --no-install-recommends lsb-release wget less zstd udev sud
 # Download zed SDK installation RUN file to /tmp directory
 cd /tmp
 
-wget -q --no-check-certificate -O ZED_SDK_Linux.run https://stereolabs.sfo2.digitaloceanspaces.com/zedsdk/QA/JP5.1.2/ZED_SDK_Tegra_L4T35.4_v4.0.6.zstd.run
+wget -q --no-check-certificate -O ZED_SDK_Linux.run +wget -q --no-check-certificate -O ZED_SDK_Linux.run https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.1/ZED_SDK_Tegra_L4T36.3_v4.1.3.zstd.run
 chmod +x ZED_SDK_Linux.run ; ./ZED_SDK_Linux.run silent skip_od_module skip_python skip_drivers
 
 # Symlink required to use the streaming features on Jetson inside a container, based on

isaac_ros_apriltag_interfaces/package.xml

@@ -11,7 +11,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_apriltag_interfaces</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Interfaces for performing Isaac ROS AprilTag detection</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_bi3d_interfaces/package.xml

@@ -11,7 +11,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_bi3d_interfaces</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Interfaces for Isaac ROS Bi3D</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_common/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_common</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Utilities for performing common functions in Isaac ROS packages</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_launch_utils/isaac_ros_launch_utils/core.py

@@ -321,6 +321,7 @@ def play_rosbag(bag_path: Any,
                 loop: Any = None,
                 rate: Any = None,
                 delay: Any = None,
+                shutdown_on_exit: bool = False,
                 additional_bag_play_args: Any = None,
                 condition: Substitution = None) -> Action:
     """ Add a process playing back a ros2bag to the launch graph. """
@@ -347,8 +348,10 @@ def impl(context: LaunchContext) -> Action:
             cmd.extend((bag_args_str).split())
 
         print("[play_rosbag]: Running the following command:", ' '.join(cmd))
-
-        bag_play_action = ExecuteProcess(cmd=cmd, output='screen', on_exit=Shutdown())
+        on_exit_func = None
+        if shutdown_on_exit:
+            on_exit_func = Shutdown()
+        bag_play_action = ExecuteProcess(cmd=cmd, output='screen', on_exit=on_exit_func)
         return [_add_delay_if_set(bag_play_action, delay_str)]
 
     return OpaqueFunction(function=impl, condition=condition)

isaac_ros_launch_utils/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_launch_utils</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Helper functions to simplify ROS2 launch files.</description>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>

isaac_ros_nitros_bridge_interfaces/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nitros_bridge_interfaces</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Interfaces for Isaac ROS NITROS Bridge Msgs</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_nova_interfaces/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nova_interfaces</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Interfaces for Isaac ROS Nova</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_pointcloud_interfaces/package.xml

@@ -13,7 +13,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_pointcloud_interfaces</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Pointcloud interfaces for Isaac ROS NITROS</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_tensor_list_interfaces/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_tensor_list_interfaces</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Interfaces for Isaac ROS tensor list</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_test/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_test</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Isaac ROS testing utilities</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>