Merge pull request #73 from NVIDIA-ISAAC-ROS/release-dp3.1

Isaac ROS 0.31.0 (DP3.1)

README.md

@@ -1,9 +1,5 @@
 # Isaac ROS Common
 
-## Latest Update
-
-Update 2023-04-05: Merged 'Dockerfile.humble' and 'Dockerfile.nav2' into 'Dockerfile.ros2_humble' as image key 'ros2_humble'.
-
 ## Overview
 
 The [Isaac ROS Common](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common) repository contains a number of scripts and Dockerfiles to help streamline development and testing with the Isaac ROS suite.
@@ -37,7 +33,7 @@ If you write a file with the name `.isaac_ros_common-config` in the same directo
 
 | Key                         | Type                 | Description                                                 | Examples                              |
 | --------------------------- | -------------------- | ----------------------------------------------------------- | ------------------------------------- |
-| `CONFIG_IMAGE_KEY`          | String               | Image key with period-delimited components                  | `ros2_humble.realsense` <br> `first.second.third` |
+| `CONFIG_IMAGE_KEY`          | String               | Image key with period-delimited components                  | `ros2_humble.realsense` <br> `humble` |
 | `CONFIG_DOCKER_SEARCH_DIRS` | Bash array of string | List of directories to search for Dockerfiles when matching | `($HOME/ros_ws/docker $HOME/docker)`  |
 
 For example, if you had the following directory structure:
@@ -92,7 +88,7 @@ This configures the image key to match with `mine` included and specifies where
 
 ## Latest Update
 
-Update 2023-04-05: Experimental support for WSL2
+Update 2023-05-25: Refreshed ROS 2 Humble.
 
 ## Supported Platforms
 
@@ -109,7 +105,8 @@ This package is designed and tested to be compatible with ROS 2 Humble running o
 
 | Date       | Changes                                                                                                                                                       |
 | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| 2023-04-05 | Experimental support for WSL2, merged image keys 'humble' and 'nav2' into 'ros2_humble'                                                                                                                     |
+| 2023-05-25 | Refreshed ROS 2 Humble                                                                                                                                        |
+| 2023-04-05 | Experimental support for WSL2, merged image keys 'humble' and 'nav2' into 'ros2_humble'                                                                       |
 | 2022-10-19 | Minor updates and bugfixes                                                                                                                                    |
 | 2022-08-31 | Update to be compatible with JetPack 5.0.2                                                                                                                    |
 | 2022-06-30 | Support ROS 2 Humble and miscellaneous bug fixes.                                                                                                             |

docker/Dockerfile.aarch64.ros2_humble

@@ -6,4 +6,4 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_c8ad2c6ecc68747eca2f1df62e25ae5e
+FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_33836e394da2d095a59afd2d151038f8

docker/Dockerfile.ros2_humble

@@ -185,6 +185,21 @@ RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && source ${ROS_ROOT}/setup.bash && cd ${ROS_ROOT} \
     && rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} \
     && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to image_proc \
+    && echo "image_pipeline https://github.com/ros-perception/image_pipeline/pull/786" >> ${ROS_ROOT}/VERSION \
+    && rm -Rf src build log \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
+
+# Install patched rclcpp package with backported multithreadedexecutor fix
+# https://github.com/ros2/rclcpp/commit/232262c02a1265830c7785b7547bd51e1124fcd8
+RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+    && git clone https://github.com/ros2/rclcpp.git && cd rclcpp && git checkout humble \
+    && git config user.email "builder@nvidia.com" && git config user.name "NVIDIA Builder" \
+    && git cherry-pick 232262c02a1265830c7785b7547bd51e1124fcd8 \
+    && source ${ROS_ROOT}/setup.bash && cd ${ROS_ROOT} \
+    && rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} \
+    && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to rclcpp \
+    && echo "rclcpp https://github.com/ros2/rclcpp/commit/232262c02a1265830c7785b7547bd51e1124fcd8" >> ${ROS_ROOT}/VERSION \
     && rm -Rf src build log \
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean

docker/Dockerfile.x86_64.ros2_humble

@@ -6,4 +6,4 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-FROM nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_c59eda1b21db0e3c8f28c8d436ad1f4e
+FROM nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_1930bbec7e7704243656b695b9df7844

docker/scripts/build-librealsense.sh

@@ -124,7 +124,7 @@ export CUDACXX=$NVCC_PATH
 export PATH=${PATH}:/usr/local/cuda/bin
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/cuda/lib64
 
-/usr/bin/cmake ../ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA="$USE_CUDA" -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS=bool:true
+/usr/bin/cmake ../ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=true -DBUILD_WITH_CUDA="$USE_CUDA" -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS=bool:true
 
 # The library will be installed in /usr/local/lib, header files in /usr/local/include
 # The demos, tutorials and tests will located in /usr/local/bin.

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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Interfaces for performing Isaac ROS AprilTag detection</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Interfaces for Isaac ROS Bi3D</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Utilities for performing common functions in Isaac ROS packages</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Pointcloud interfaces for Isaac ROS NITROS</description>
 
   <maintainer email="ashwinvk@nvidia.com">Ashwin Varghese Kuruttukulam</maintainer>

isaac_ros_tensor_list_interfaces/msg/Tensor.msg

@@ -6,20 +6,20 @@ TensorShape shape
 
 # Data type for tensor
 # Use the following values to represent these data types:
-# - 1: "uint8"
-# - 2: "int8"
-# - 3: "uint16"
-# - 4: "int16"
-# - 5: "uint32"
-# - 6: "int32"
-# - 7: "uint64"
-# - 8: "int64"
-# - 9: "float32"
+# -  1: "int8"
+# -  2: "uint8"
+# -  3: "int16"
+# -  4: "uint16"
+# -  5: "int32"
+# -  6: "uint32"
+# -  7: "int64"
+# -  8: "uint64"
+# -  9: "float32"
 # - 10: "float64"
 int32 data_type
 
 # Strides of tensor (byte size for each dimension)
 uint64[] strides
 
 # Data buffer
-uint8[] data
+uint8[] data

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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Interfaces for Isaac ROS tensor list</description>
 
   <maintainer email="cyc@nvidia.com">CY Chen</maintainer>

isaac_ros_test/isaac_ros_test/examples/isaac_ros_talker_comparison_test.py

@@ -68,10 +68,10 @@ def test_messages_match(self) -> None:
             while time.time() < end_time:
                 rclpy.spin_once(self.node, timeout_sec=0.1)
 
-                if all([
+                if all(
                     len(messages) >= MESSAGES_RECEIVED_COUNT
                     for messages in received_messages.values()
-                ]):
+                ):
                     done = True
                     break
 

isaac_ros_test/isaac_ros_test/isaac_ros_base_test.py

@@ -11,13 +11,14 @@
 import functools
 from pathlib import Path
 import time
-from typing import Any, Callable, Dict, Iterable, Tuple
+from typing import Any, Callable, Dict, Iterable, List, Tuple
 import unittest
 
 import cv2  # noqa: F401
 from cv_bridge import CvBridge
 import launch
 import launch_testing.actions
+from message_filters import Subscriber, TimeSynchronizer
 import numpy as np
 import rclpy
 from rclpy.qos import QoSDurabilityPolicy, QoSProfile, QoSReliabilityPolicy
@@ -180,7 +181,8 @@ def assertImagesEqual(
 
         """
         self.assertTupleEqual(actual.shape, expected.shape)
-        difference = np.linalg.norm(actual - expected)
+        # convert to int32 to prevent -ve overflow when input numpy array is of type uint8
+        difference = np.linalg.norm(actual.astype(np.int32) - expected.astype(np.int32))
         threshold_pixels = threshold_fraction * actual.size * 255
         self.assertLessEqual(
             difference, threshold_pixels,
@@ -243,7 +245,9 @@ def callback(msg):
                         received_messages[topic].append(msg)
                 else:
                     self.assertTrue(topic not in received_messages,
-                                    f'Already received a message on topic {topic}!')
+                                    f'Already received a message on topic {topic}! \
+                                    To enable multiple messages on the same topic \
+                                    use the accept_multiple_messages flag')
                     received_messages[topic] = msg
 
             return callback
@@ -257,6 +261,68 @@ def callback(msg):
 
         return subscriptions
 
+    def create_exact_time_sync_logging_subscribers(
+        self,
+        subscription_requests: Iterable[Tuple[str, Any]],
+        received_messages: List[Any],
+        accept_multiple_messages: bool = False,
+        exact_time_sync_queue: int = 10,
+        add_received_message_timestamps: bool = False
+    ) -> Iterable[Subscription]:
+        """
+        Create subscribers that log time synced messages received to the passed-in dictionary.
+
+        Parameters
+        ----------
+        subscription_requests : Iterable[Tuple[str, Any]]
+            List of topic names and topic types to subscribe to.
+
+        received_messages : List[Any]
+            Output list of synced messages
+
+        accept_multiple_messages : bool
+            Whether the generated subscription callbacks should accept multiple messages,
+            by default False
+
+        exact_time_sync_queue : int
+            The size of the time sync buffer queue.
+
+        add_received_message_timestamps : bool
+            Whether the generated subscription callbacks should add a timestamp to the messages,
+            by default False
+
+        Returns
+        -------
+        Iterable[Subscription]
+            List of subscribers, passing the unsubscribing responsibility to the caller
+
+        """
+        def callback(*arg):
+            if accept_multiple_messages:
+                if add_received_message_timestamps:
+                    received_messages.append((arg, time.time()))
+                else:
+                    received_messages.append(arg)
+            else:
+                self.assertTrue(len(received_messages) == 0,
+                                'Already received a syned message! \
+                                To enable multiple messages on the same topic \
+                                use the accept_multiple_messages flag')
+                if add_received_message_timestamps:
+                    received_messages.append((arg, time.time()))
+                else:
+                    received_messages.append(arg)
+
+        subscriptions = [Subscriber(self.node, msg_type, topic)
+                         for topic, msg_type in subscription_requests]
+        ets = TimeSynchronizer(
+            subscriptions,
+            exact_time_sync_queue
+        )
+        ets.registerCallback(callback)
+
+        return subscriptions
+
     def synchronize_timestamps(
         self,
         image: Image,

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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Isaac ROS testing utilities</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>

scripts/run_dev.sh

@@ -138,6 +138,7 @@ DOCKER_ARGS+=("-e DISPLAY")
 DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
 DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all")
 DOCKER_ARGS+=("-e FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml")
+DOCKER_ARGS+=("-e ROS_DOMAIN_ID")
 
 if [[ $PLATFORM == "aarch64" ]]; then
     DOCKER_ARGS+=("-v /usr/bin/tegrastats:/usr/bin/tegrastats")