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hemalshahNVhemalshahNV
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Isaac ROS 2.0.0
1 parent 119ac00 commit 61bf373

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-475
lines changed

‎README.md‎

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‎docs/tutorial-isaac-sim.md‎

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‎docs/tutorial-nitros-graph.md‎

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‎isaac_ros_unet/CMakeLists.txt‎

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@@ -1,5 +1,5 @@
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
@@ -15,7 +15,7 @@
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.23.2)
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cmake_minimum_required(VERSION 3.22.1)
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project(isaac_ros_unet LANGUAGES C CXX)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -45,6 +45,12 @@ if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# The FindPythonInterp and FindPythonLibs modules are removed
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if(POLICY CMP0148)
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cmake_policy(SET CMP0148 OLD)
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endif()
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find_package(launch_testing_ament_cmake REQUIRED)
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add_launch_test(test/isaac_ros_unet_pol_test.py TIMEOUT "400")
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endif()

‎isaac_ros_unet/gxf/image_segmentation/CMakeLists.txt‎

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@@ -31,7 +31,7 @@ find_package(GXF ${ISAAC_ROS_GXF_VERSION} MODULE REQUIRED
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serialization
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std
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)
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include(YamlCpp)
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find_package(yaml-cpp)
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# Create extension
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add_library(gxf_segmentation_postprocessor SHARED

‎isaac_ros_unet/include/isaac_ros_unet/unet_decoder_node.hpp‎

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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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// Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.

‎isaac_ros_unet/launch/isaac_ros_argus_unet_triton.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
@@ -141,9 +141,11 @@ def generate_launch_description():
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# Parameters preconfigured for PeopleSemSegNet.
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encoder_node = ComposableNode(
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name='dnn_image_encoder',
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package='isaac_ros_dnn_encoders',
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package='isaac_ros_dnn_image_encoder',
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plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
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parameters=[{
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'input_image_width': 1920,
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'input_image_height': 1200,
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'network_image_width': network_image_width,
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'network_image_height': network_image_height,
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'image_mean': encoder_image_mean,

‎isaac_ros_unet/launch/isaac_ros_unet_tensor_rt.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
@@ -25,6 +25,14 @@
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def generate_launch_description():
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"""Launch the DNN Image encoder, TensorRT node and UNet decoder node."""
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launch_args = [
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DeclareLaunchArgument(
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'input_image_width',
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default_value='1920',
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description='The input image width'),
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DeclareLaunchArgument(
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'input_image_height',
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default_value='1080',
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description='The input image height'),
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DeclareLaunchArgument(
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'network_image_width',
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default_value='960',
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]
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# DNN Image Encoder parameters
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input_image_width = LaunchConfiguration('input_image_width')
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input_image_height = LaunchConfiguration('input_image_height')
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network_image_width = LaunchConfiguration('network_image_width')
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network_image_height = LaunchConfiguration('network_image_height')
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encoder_image_mean = LaunchConfiguration('encoder_image_mean')
@@ -126,9 +136,11 @@ def generate_launch_description():
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# Parameters preconfigured for PeopleSemSegNet.
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encoder_node = ComposableNode(
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name='dnn_image_encoder',
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package='isaac_ros_dnn_encoders',
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package='isaac_ros_dnn_image_encoder',
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plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
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parameters=[{
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'input_image_width': input_image_width,
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'input_image_height': input_image_height,
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'network_image_width': network_image_width,
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'network_image_height': network_image_height,
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'image_mean': encoder_image_mean,

‎isaac_ros_unet/launch/isaac_ros_unet_triton.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
@@ -25,6 +25,14 @@
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def generate_launch_description():
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"""Launch the DNN Image encoder, Triton node and UNet decoder node."""
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launch_args = [
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DeclareLaunchArgument(
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'input_image_width',
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default_value='1920',
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description='The input image width'),
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DeclareLaunchArgument(
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'input_image_height',
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default_value='1080',
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description='The input image height'),
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DeclareLaunchArgument(
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'network_image_width',
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default_value='960',
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]
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# DNN Image Encoder parameters
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input_image_width = LaunchConfiguration('input_image_width')
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input_image_height = LaunchConfiguration('input_image_height')
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network_image_width = LaunchConfiguration('network_image_width')
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network_image_height = LaunchConfiguration('network_image_height')
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encoder_image_mean = LaunchConfiguration('encoder_image_mean')
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# Parameters preconfigured for PeopleSemSegNet.
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encoder_node = ComposableNode(
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name='dnn_image_encoder',
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package='isaac_ros_dnn_encoders',
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package='isaac_ros_dnn_image_encoder',
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plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
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parameters=[{
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'input_image_width': input_image_width,
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'input_image_height': input_image_height,
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'network_image_width': network_image_width,
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'network_image_height': network_image_height,
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'image_mean': encoder_image_mean,

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