Isaac ROS 2.1.0

Author: hemalshahNV

isaac_ros_unet/config/unet_decoder_node.yaml

@@ -58,6 +58,10 @@ components:
     network_output_type: softmax
     data_format: NHWC
     cuda_stream_pool: stream
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: allocator
+    min_blocks: 1
 ---
 name: segmentation_broadcaster
 components:

isaac_ros_unet/launch/isaac_ros_argus_unet_triton.launch.py

@@ -63,7 +63,7 @@ def generate_launch_description():
             description='A list of input tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'input_tensor_formats',
-            default_value='["nitros_tensor_list_nchw_rgb_f32"]',
+            default_value='["nitros_tensor_list_nchw_bgr_f32"]',
             description='The nitros format of the input tensors'),
         DeclareLaunchArgument(
             'output_tensor_names',
@@ -75,7 +75,7 @@ def generate_launch_description():
             description='A  list of output tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'output_tensor_formats',
-            default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
+            default_value='["nitros_tensor_list_nhwc_bgr_f32"]',
             description='The nitros format of the output tensors'),
         DeclareLaunchArgument(
             'network_output_type',

isaac_ros_unet/launch/isaac_ros_unet_tensor_rt.launch.py

@@ -67,7 +67,7 @@ def generate_launch_description():
             description='A list of input tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'input_tensor_formats',
-            default_value='["nitros_tensor_list_nchw_rgb_f32"]',
+            default_value='["nitros_tensor_list_nchw_bgr_f32"]',
             description='The nitros format of the input tensors'),
         DeclareLaunchArgument(
             'output_tensor_names',
@@ -79,7 +79,7 @@ def generate_launch_description():
             description='A  list of output tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'output_tensor_formats',
-            default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
+            default_value='["nitros_tensor_list_nhwc_bgr_f32"]',
             description='The nitros format of the output tensors'),
         DeclareLaunchArgument(
             'tensorrt_verbose',
@@ -145,6 +145,7 @@ def generate_launch_description():
             'network_image_height': network_image_height,
             'image_mean': encoder_image_mean,
             'image_stddev': encoder_image_stddev,
+            'enable_padding': True,
         }],
         remappings=[('encoded_tensor', 'tensor_pub')]
     )

isaac_ros_unet/launch/isaac_ros_unet_triton.launch.py

@@ -71,7 +71,7 @@ def generate_launch_description():
             description='A list of input tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'input_tensor_formats',
-            default_value='["nitros_tensor_list_nchw_rgb_f32"]',
+            default_value='["nitros_tensor_list_nchw_bgr_f32"]',
             description='The nitros format of the input tensors'),
         DeclareLaunchArgument(
             'output_tensor_names',
@@ -83,7 +83,7 @@ def generate_launch_description():
             description='A  list of output tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'output_tensor_formats',
-            default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
+            default_value='["nitros_tensor_list_nhwc_bgr_f32"]',
             description='The nitros format of the output tensors'),
         DeclareLaunchArgument(
             'network_output_type',

isaac_ros_unet/launch/isaac_ros_unet_triton_isaac_sim.launch.py

@@ -71,7 +71,7 @@ def generate_launch_description():
             description='A list of input tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'input_tensor_formats',
-            default_value='["nitros_tensor_list_nchw_rgb_f32"]',
+            default_value='["nitros_tensor_list_nchw_bgr_f32"]',
             description='The nitros format of the input tensors'),
         DeclareLaunchArgument(
             'output_tensor_names',
@@ -83,7 +83,7 @@ def generate_launch_description():
             description='A  list of output tensor binding names (specified by model)'),
         DeclareLaunchArgument(
             'output_tensor_formats',
-            default_value='["nitros_tensor_list_nhwc_rgb_f32"]',
+            default_value='["nitros_tensor_list_nhwc_bgr_f32"]',
             description='The nitros format of the output tensors'),
         DeclareLaunchArgument(
             'network_output_type',

isaac_ros_unet/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>isaac_ros_unet</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>U-Net model processing</description>
 
   <maintainer email="[email protected]">Hemal Shah</maintainer>