diff --git a/README.md b/README.md index 3fe01ff..366b519 100644 --- a/README.md +++ b/README.md @@ -70,13 +70,13 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev ## Performance -| Sample Graph

| Input Size

| AGX Orin

| Orin NX

| Orin Nano 8GB

| x86_64 w/ RTX 4060 Ti

| x86_64 w/ RTX 4090

| -|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_dope_node.py)


DOPE

| VGA



| [48.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)


24 ms @ 30Hz

| [17.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)


56 ms @ 30Hz

| [13.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)


82 ms @ 30Hz

| [98.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-nuc_4060ti.json)


13 ms @ 30Hz

| [296 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86_4090.json)


5.1 ms @ 30Hz

| -| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_dope_node.py)


DOPE

| VGA



| [47.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)


23 ms @ 30Hz

| [20.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)


540 ms @ 30Hz

| [14.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)


790 ms @ 30Hz

| [94.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-nuc_4060ti.json)


12 ms @ 30Hz

| [254 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86_4090.json)


4.6 ms @ 30Hz

| -| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_ps_node.py)


PeopleSemSegNet

| 544p



| [460 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)


4.1 ms @ 30Hz

| [348 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)


6.1 ms @ 30Hz

| [238 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)


7.0 ms @ 30Hz

| [685 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)


2.9 ms @ 30Hz

| [675 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-x86_4090.json)


3.0 ms @ 30Hz

| -| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_ps_node.py)


PeopleSemSegNet

| 544p



| [304 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)


4.8 ms @ 30Hz

| [206 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)


6.5 ms @ 30Hz

| –



| [677 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)


2.2 ms @ 30Hz

| [619 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-x86_4090.json)


1.9 ms @ 30Hz

| -| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dnn_image_encoder_benchmark/scripts/isaac_ros_dnn_image_encoder_node.py)



| VGA



| [522 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)


12 ms @ 30Hz

| [330 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)


12 ms @ 30Hz

| –



| [811 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-nuc_4060ti.json)


6.6 ms @ 30Hz

| [822 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86_4090.json)


6.4 ms @ 30Hz

| +| Sample Graph

| Input Size

| AGX Orin

| Orin NX

| Orin Nano 8GB

| x86_64 w/ RTX 4090

| +|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------| +| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_dope_node.py)


DOPE

| VGA



| [47.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)


24 ms @ 30Hz

| [18.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)


56 ms @ 30Hz

| [13.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)


81 ms @ 30Hz

| [298 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86-4090.json)


4.6 ms @ 30Hz

| +| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_dope_node.py)


DOPE

| VGA



| [47.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)


24 ms @ 30Hz

| [20.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)


530 ms @ 30Hz

| [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)


780 ms @ 30Hz

| [276 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86-4090.json)


4.6 ms @ 30Hz

| +| [TensorRT Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_tensor_rt_benchmark/scripts/isaac_ros_tensor_rt_ps_node.py)


PeopleSemSegNet

| 544p



| [460 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)


4.1 ms @ 30Hz

| [348 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)


6.1 ms @ 30Hz

| [238 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)


7.0 ms @ 30Hz

| [685 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)


2.9 ms @ 30Hz

| +| [Triton Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_triton_benchmark/scripts/isaac_ros_triton_ps_node.py)


PeopleSemSegNet

| 544p



| [304 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)


4.8 ms @ 30Hz

| [206 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)


6.5 ms @ 30Hz

| –



| [677 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)


2.2 ms @ 30Hz

| +| [DNN Image Encoder Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dnn_image_encoder_benchmark/scripts/isaac_ros_dnn_image_encoder_node.py)



| VGA



| [420 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)


12 ms @ 30Hz

| [382 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)


11 ms @ 30Hz

| –



| [574 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86-4090.json)


5.2 ms @ 30Hz

| --- @@ -104,4 +104,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re ## Latest -Update 2024-09-26: Update for Isaac ROS 3.1 +Update 2024-12-10: Update to be compatible with JetPack 6.1 diff --git a/isaac_ros_dnn_image_encoder/CMakeLists.txt b/isaac_ros_dnn_image_encoder/CMakeLists.txt index 3b42035..0ef2dd5 100644 --- a/isaac_ros_dnn_image_encoder/CMakeLists.txt +++ b/isaac_ros_dnn_image_encoder/CMakeLists.txt @@ -38,6 +38,13 @@ if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() + # Gtest for dnn image encoder node + ament_add_gtest(dnn_image_encoder_node_test test/dnn_image_encoder_node_test.cpp) + target_link_libraries(dnn_image_encoder_node_test dnn_image_encoder_node) + target_include_directories(dnn_image_encoder_node_test PUBLIC include/isaac_ros_dnn_image_encoder/) + target_include_directories(dnn_image_encoder_node_test PUBLIC /usr/src/googletest/googlemock/include/) + ament_target_dependencies(dnn_image_encoder_node_test rclcpp) + ament_target_dependencies(dnn_image_encoder_node_test isaac_ros_nitros) # The FindPythonInterp and FindPythonLibs modules are removed if(POLICY CMP0148) @@ -50,4 +57,10 @@ if(BUILD_TESTING) add_launch_test(test/isaac_ros_dnn_image_encoder_image_norm_test.py) endif() + +# Embed versioning information into installed files +ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common) +include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake") +generate_version_info(${PROJECT_NAME}) + ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/isaac_ros_dnn_image_encoder/launch/dnn_image_encoder.launch.py b/isaac_ros_dnn_image_encoder/launch/dnn_image_encoder.launch.py index bb8690b..98747f0 100644 --- a/isaac_ros_dnn_image_encoder/launch/dnn_image_encoder.launch.py +++ b/isaac_ros_dnn_image_encoder/launch/dnn_image_encoder.launch.py @@ -43,9 +43,13 @@ def launch_setup(context, *args, **kwargs): context.perform_substitution(LaunchConfiguration('enable_padding')) ) + input_qos = LaunchConfiguration('input_qos') + output_qos = LaunchConfiguration('output_qos') + keep_aspect_ratio = LaunchConfiguration('keep_aspect_ratio') crop_mode = LaunchConfiguration('crop_mode') encoding_desired = LaunchConfiguration('encoding_desired') + input_encoding = LaunchConfiguration('input_encoding') final_tensor_name = LaunchConfiguration('final_tensor_name') image_mean = LaunchConfiguration('image_mean') @@ -92,11 +96,12 @@ def launch_setup(context, *args, **kwargs): plugin='nvidia::isaac_ros::image_proc::ResizeNode', parameters=[ { + 'input_qos': input_qos, 'output_width': resize_image_width, 'output_height': resize_image_height, 'num_blocks': num_blocks, 'keep_aspect_ratio': keep_aspect_ratio, - 'encoding_desired': '', + 'encoding_desired': input_encoding, } ], remappings=[ @@ -104,6 +109,22 @@ def launch_setup(context, *args, **kwargs): ('camera_info', camera_info_input_topic), ], ), + ComposableNode( + name='image_format_converter_node', + package='isaac_ros_image_proc', + plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode', + parameters=[ + { + 'image_width': network_image_width, + 'image_height': network_image_height, + 'encoding_desired': encoding_desired, + } + ], + remappings=[ + ('image_raw', 'resize/image'), + ('image', 'converted/image'), + ], + ), ComposableNode( name='crop_node', package='isaac_ros_image_proc', @@ -121,26 +142,11 @@ def launch_setup(context, *args, **kwargs): } ], remappings=[ - ('image', 'resize/image'), - ('camera_info', 'resize/camera_info'), - ], - ), - ComposableNode( - name='image_format_converter_node', - package='isaac_ros_image_proc', - plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode', - parameters=[ - { - 'image_width': network_image_width, - 'image_height': network_image_height, - 'encoding_desired': encoding_desired, - } - ], - remappings=[ - ('image_raw', 'crop/image'), ('image', 'converted/image'), + ('camera_info', 'resize/camera_info'), ], ), + ComposableNode( name='image_to_tensor', package='isaac_ros_tensor_proc', @@ -152,7 +158,7 @@ def launch_setup(context, *args, **kwargs): } ], remappings=[ - ('image', 'converted/image'), + ('image', 'crop/image'), ('tensor', 'image_tensor'), ], ), @@ -192,6 +198,7 @@ def launch_setup(context, *args, **kwargs): plugin='nvidia::isaac_ros::dnn_inference::ReshapeNode', parameters=[ { + 'output_qos': output_qos, 'output_tensor_name': final_tensor_name, 'input_tensor_shape': [3, network_image_height, network_image_width], 'output_tensor_shape': [1, 3, network_image_height, network_image_width], @@ -253,6 +260,16 @@ def generate_launch_description(): default_value='True', description='Whether to enable padding or not', ), + DeclareLaunchArgument( + 'input_qos', + default_value='DEFAULT', + description='The QoS settings for the input image' + ), + DeclareLaunchArgument( + 'output_qos', + default_value='DEFAULT', + description='The QoS settings for the output tensor' + ), DeclareLaunchArgument( 'num_blocks', default_value='40', @@ -268,6 +285,11 @@ def generate_launch_description(): default_value='CENTER', description='The crop mode to crop the image using', ), + DeclareLaunchArgument( + 'input_encoding', + default_value='rgb8', + description='The desired image format encoding', + ), DeclareLaunchArgument( 'encoding_desired', default_value='rgb8', diff --git a/isaac_ros_dnn_image_encoder/package.xml b/isaac_ros_dnn_image_encoder/package.xml index 10e2660..2a4b9e1 100644 --- a/isaac_ros_dnn_image_encoder/package.xml +++ b/isaac_ros_dnn_image_encoder/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 isaac_ros_dnn_image_encoder - 3.1.0 + 3.2.0 Encoder for preprocessing images into tensors for deep learning inference Isaac ROS Maintainers Apache-2.0 @@ -48,6 +48,7 @@ SPDX-License-Identifier: Apache-2.0 ament_lint_auto ament_lint_common isaac_ros_test + ament_cmake_gtest ament_cmake diff --git a/isaac_ros_dnn_image_encoder/test/dnn_image_encoder_node_test.cpp b/isaac_ros_dnn_image_encoder/test/dnn_image_encoder_node_test.cpp new file mode 100644 index 0000000..2a43d1b --- /dev/null +++ b/isaac_ros_dnn_image_encoder/test/dnn_image_encoder_node_test.cpp @@ -0,0 +1,114 @@ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 + +#include +#include "dnn_image_encoder_node.hpp" +#include "rclcpp/rclcpp.hpp" + +// Objective: to cover code lines where exceptions are thrown +// Approach: send Invalid Arguments for node parameters to trigger the exception + + +TEST(dnn_image_encoder_node_test, test_invalid_input_image_width) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 0); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode dnn_image_encoder_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Invalid input_image_width")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(dnn_image_encoder_node_test, test_invalid_input_image_height) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 1); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode dnn_image_encoder_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Invalid input_image_height")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(dnn_image_encoder_node_test, test_invalid_network_image_width) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 1); + options.append_parameter_override("input_image_height", 1); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode dnn_image_encoder_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Invalid network_image_width")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(dnn_image_encoder_node_test, test_invalid_network_image_height) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 1); + options.append_parameter_override("input_image_height", 1); + options.append_parameter_override("network_image_width", 1); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode dnn_image_encoder_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Invalid network_image_height")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/isaac_ros_dnn_image_encoder/test/isaac_ros_dnn_image_encoder_image_crop_test.py b/isaac_ros_dnn_image_encoder/test/isaac_ros_dnn_image_encoder_image_crop_test.py index 15691c6..9c85b5e 100644 --- a/isaac_ros_dnn_image_encoder/test/isaac_ros_dnn_image_encoder_image_crop_test.py +++ b/isaac_ros_dnn_image_encoder/test/isaac_ros_dnn_image_encoder_image_crop_test.py @@ -210,20 +210,20 @@ def extract_pixel(data, x, y): # Extract 3 float values corresponding to the r, g, b = extract_pixel(tensor.data, x, y) - if(abs(r - RED_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE + if (abs(r - RED_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE and g < COLOR_MATCH_TOLERANCE and b < COLOR_MATCH_TOLERANCE): red_pixel_count += 1 - if(abs(g - GREEN_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE + if (abs(g - GREEN_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE and r < COLOR_MATCH_TOLERANCE and b < COLOR_MATCH_TOLERANCE): green_pixel_count += 1 - if(abs(b - BLUE_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE + if (abs(b - BLUE_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE and r < COLOR_MATCH_TOLERANCE and g < COLOR_MATCH_TOLERANCE): blue_pixel_count += 1 - if(abs(r - RED_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE and + if (abs(r - RED_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE and abs(g - GREEN_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE and abs(b - BLUE_EXPECTED_VAL) < COLOR_MATCH_TOLERANCE): white_pixel_count += 1 - if(r < COLOR_MATCH_TOLERANCE and g < COLOR_MATCH_TOLERANCE and + if (r < COLOR_MATCH_TOLERANCE and g < COLOR_MATCH_TOLERANCE and b < COLOR_MATCH_TOLERANCE): black_pixel_count += 1 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/CMakeLists.txt b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/CMakeLists.txt index 1a3a807..defc598 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/CMakeLists.txt +++ b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/CMakeLists.txt @@ -27,7 +27,7 @@ ament_auto_find_build_dependencies() # Dependencies find_package(CUDAToolkit) -find_package(TENSORRT 8 MODULE REQUIRED) +find_package(TENSORRT 10 MODULE REQUIRED) find_package(yaml-cpp) # TensorRT extension @@ -39,6 +39,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED target_link_libraries(${PROJECT_NAME} CUDA::cudart + TENSORRT::nvinfer + TENSORRT::nvinfer_plugin TENSORRT::nvonnxparser yaml-cpp ) @@ -54,4 +56,10 @@ set_target_properties(${PROJECT_NAME} PROPERTIES # Install the binary file install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib) + +# Embed versioning information into installed files +ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common) +include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake") +generate_version_info(${PROJECT_NAME}) + ament_auto_package(INSTALL_TO_SHARE) \ No newline at end of file diff --git a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_extension.cpp b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_extension.cpp index 898f8e2..41a064c 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_extension.cpp +++ b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_extension.cpp @@ -25,7 +25,7 @@ extern "C" { GXF_EXT_FACTORY_BEGIN() GXF_EXT_FACTORY_SET_INFO(0xd43f23e4b9bf11eb, 0x9d182b7be630552b, "TensorRTExtension", "TensorRT", - "Nvidia", "2.5.0", "LICENSE"); + "Nvidia", "2.7.0", "LICENSE"); GXF_EXT_FACTORY_ADD(0x06a7f0e0b9c011eb, 0x8cd623c9c2070107, nvidia::gxf::TensorRtInference, nvidia::gxf::Codelet, diff --git a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.cpp b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.cpp index 299fce8..c537b76 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.cpp +++ b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.cpp @@ -107,6 +107,9 @@ gxf::Expected NvInferDatatypeToTensorElementType(nvinfer1::D case nvinfer1::DataType::kINT32: { return gxf::PrimitiveType::kInt32; } + case nvinfer1::DataType::kINT64: { + return gxf::PrimitiveType::kInt64; + } case nvinfer1::DataType::kUINT8: { return gxf::PrimitiveType::kUnsigned8; } @@ -307,14 +310,15 @@ gxf_result_t TensorRtInference::start() { // Deserialize the CUDA engine if (verbose_.get()) { GXF_LOG_INFO("Creating inference runtime."); } - cuda_engine_.reset(infer_runtime_->deserializeCudaEngine(plan.data(), plan.size(), NULL)); + cuda_engine_.reset(infer_runtime_->deserializeCudaEngine(plan.data(), plan.size())); // Debug spews if (verbose_.get()) { - GXF_LOG_INFO("Number of CUDA bindings: %d", cuda_engine_->getNbBindings()); - for (int i = 0; i < cuda_engine_->getNbBindings(); ++i) { - GXF_LOG_INFO("CUDA binding No.%d: name %s Format %s", i, cuda_engine_->getBindingName(i), - cuda_engine_->getBindingFormatDesc(i)); + GXF_LOG_INFO("Number of CUDA bindings: %d", cuda_engine_->getNbIOTensors()); + for (int32_t i = 0; i < cuda_engine_->getNbIOTensors(); ++i) { + GXF_LOG_INFO("Tensor name %s: Format %s", + cuda_engine_->getIOTensorName(i), + cuda_engine_->getTensorFormatDesc(cuda_engine_->getIOTensorName(i))); } } @@ -322,60 +326,40 @@ gxf_result_t TensorRtInference::start() { const uint64_t input_number = input_tensor_names_.get().size(); const uint64_t output_number = output_tensor_names_.get().size(); const int64_t total_bindings_number = input_number + output_number; - if (cuda_engine_->getNbBindings() != static_cast(total_bindings_number)) { + if (cuda_engine_->getNbIOTensors() != static_cast(total_bindings_number)) { GXF_LOG_ERROR( "Numbers of CUDA bindings mismatch: configured for %lu vs model requires %d. " "Please check TensorRTInference codelet configuration.\n", - total_bindings_number, cuda_engine_->getNbBindings()); + total_bindings_number, cuda_engine_->getNbIOTensors()); return GXF_ARGUMENT_INVALID; } // Creates cuda execution context cuda_execution_ctx_.reset(cuda_engine_->createExecutionContext()); - // Allocates CUDA buffer pointers for binding to be populated in tick() - cuda_buffers_.resize(input_tensor_names_.get().size() + output_tensor_names_.get().size(), - nullptr); - // Keeps record of input bindings binding_infos_.clear(); for (uint64_t j = 0; j < input_number; ++j) { const std::string& tensor_name = input_tensor_names_.get()[j]; const std::string& binding_name = input_binding_names_.get()[j]; - - const int32_t binding_index = cuda_engine_->getBindingIndex(binding_name.c_str()); - if (binding_index == -1) { - GXF_LOG_ERROR("Failed to get binding index for input %s in model %s", binding_name.c_str(), - engine_file_path_.get().c_str()); - return GXF_FAILURE; - } - - if (binding_index >= static_cast(cuda_buffers_.size())) { - GXF_LOG_ERROR("Binding index for input %s is out of range in model %s.", binding_name.c_str(), - engine_file_path_.get().c_str()); - return GXF_FAILURE; - } - // Checks element type const auto maybe_element_type = - NvInferDatatypeToTensorElementType(cuda_engine_->getBindingDataType(binding_index)); + NvInferDatatypeToTensorElementType(cuda_engine_->getTensorDataType(binding_name.c_str())); if (!maybe_element_type) { - GXF_LOG_ERROR("Unsupported element type for binding input %s on index %d. ", - binding_name.c_str(), binding_index); + GXF_LOG_ERROR("Unsupported element type for binding input %s", binding_name.c_str()); return maybe_element_type.error(); } // Keeps binding info - const auto& dims = cuda_engine_->getBindingDimensions(binding_index); + const auto& dims = cuda_engine_->getTensorShape(binding_name.c_str()); binding_infos_[tensor_name] = - BindingInfo{binding_index, static_cast(dims.nbDims), binding_name, - maybe_element_type.value(), Dims2Dimensions(dims)}; + BindingInfo{static_cast(dims.nbDims), binding_name, maybe_element_type.value(), + Dims2Dimensions(dims)}; // Debug spew if (verbose_.get()) { GXF_LOG_INFO( - "Input Tensor %s:%s index %d Dimensions %s.", tensor_name.c_str(), binding_name.c_str(), - binding_index, + "Input Tensor %s:%s Dimensions %s.", tensor_name.c_str(), binding_name.c_str(), FormatDims(binding_infos_[tensor_name].dimensions, binding_infos_[tensor_name].rank) .c_str()); } @@ -385,37 +369,23 @@ gxf_result_t TensorRtInference::start() { for (uint64_t j = 0; j < output_number; ++j) { const std::string& tensor_name = output_tensor_names_.get()[j]; const std::string& binding_name = output_binding_names_.get()[j]; - - const int32_t binding_index = cuda_engine_->getBindingIndex(binding_name.c_str()); - if (binding_index == -1) { - GXF_LOG_ERROR("Failed to get binding index for output %s", binding_name.c_str()); - return GXF_FAILURE; - } - if (binding_index >= static_cast(cuda_buffers_.size())) { - GXF_LOG_ERROR("Binding index for output %s is out of range.", binding_name.c_str()); - return GXF_FAILURE; - } - // Checks element type const auto maybe_element_type = - NvInferDatatypeToTensorElementType(cuda_engine_->getBindingDataType(binding_index)); + NvInferDatatypeToTensorElementType(cuda_engine_->getTensorDataType(binding_name.c_str())); if (!maybe_element_type) { - GXF_LOG_ERROR("Unsupported element type for binding output %s on index %d. ", - binding_name.c_str(), binding_index); + GXF_LOG_ERROR("Unsupported element type for binding output %s ", binding_name.c_str()); return maybe_element_type.error(); } // Keeps binding info - const auto& dims = cuda_engine_->getBindingDimensions(binding_index); + const auto& dims = cuda_engine_->getTensorShape(binding_name.c_str()); binding_infos_[tensor_name] = - BindingInfo{binding_index, static_cast(dims.nbDims), binding_name, - maybe_element_type.value(), Dims2Dimensions(dims)}; - cuda_buffers_[binding_index] = nullptr; // populate cuda_buffers dynamically, in tick() + BindingInfo{static_cast(dims.nbDims), binding_name, maybe_element_type.value(), + Dims2Dimensions(dims)}; if (verbose_.get()) { GXF_LOG_INFO( - "Output Tensor %s:%s (%d), Dimensions: %s.", tensor_name.c_str(), binding_name.c_str(), - binding_index, + "Output Tensor %s:%s, Dimensions: %s.", tensor_name.c_str(), binding_name.c_str(), FormatDims(binding_infos_[tensor_name].dimensions, binding_infos_[tensor_name].rank) .c_str()); } @@ -450,7 +420,7 @@ gxf::Expected> TensorRtInference::convertModelToEngine() { // Builder Config provides options to the Builder NvInferHandle builderConfig(builder->createBuilderConfig()); - builderConfig->setMaxWorkspaceSize(max_workspace_size_); + builderConfig->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, max_workspace_size_); // Sets DLA core if provided and always fall back to GPU auto dla_core = dla_core_.try_get(); @@ -512,15 +482,13 @@ gxf::Expected> TensorRtInference::convertModelToEngine() { builderConfig->addOptimizationProfile(optimization_profile); // Creates TensorRT Engine Plan - NvInferHandle engine( - builder->buildEngineWithConfig(*network, *builderConfig)); - if (!engine) { + NvInferHandle model_stream( + builder->buildSerializedNetwork(*network, *builderConfig)); + if (!model_stream) { GXF_LOG_ERROR("Failed to build TensorRT engine from model %s.", model_file_path_.get().c_str()); return gxf::Unexpected{GXF_FAILURE}; } - - NvInferHandle model_stream(engine->serialize()); - if (!model_stream || model_stream->size() == 0 || model_stream->data() == nullptr) { + if (model_stream->size() == 0 || model_stream->data() == nullptr) { GXF_LOG_ERROR("Fail to serialize TensorRT Engine."); return gxf::Unexpected{GXF_FAILURE}; } @@ -536,7 +504,6 @@ gxf::Expected> TensorRtInference::convertModelToEngine() { gxf_result_t TensorRtInference::stop() { cuda_execution_ctx_ = nullptr; cuda_engine_ = nullptr; - cuda_buffers_.clear(); auto result = cudaEventDestroy(cuda_event_consumed_); if (cudaSuccess != result) { @@ -609,10 +576,12 @@ gxf_result_t TensorRtInference::tick() { binding_rank_matched++; continue; } + if (shape.dimension(shape_rank_matched) == 1) { shape_rank_matched++; continue; } + if (binding_info.dimensions[binding_rank_matched] == 1) { binding_rank_matched++; continue; @@ -654,14 +623,15 @@ gxf_result_t TensorRtInference::tick() { } // Updates the latest dimension of input tensor - if (!cuda_execution_ctx_->setBindingDimensions(binding_info.index, dims)) { + if (!cuda_execution_ctx_->setInputShape(binding_info.binding_name.c_str(), dims)) { GXF_LOG_ERROR("Failed to update input binding %s dimensions.", binding_info.binding_name.c_str()); return GXF_FAILURE; } // Binds input tensor buffer - cuda_buffers_[binding_info.index] = maybe_tensor.value()->pointer(); + cuda_execution_ctx_->setTensorAddress(binding_info.binding_name.c_str(), + maybe_tensor.value()->pointer()); } // Creates result message entity @@ -679,11 +649,13 @@ gxf_result_t TensorRtInference::tick() { // Queries binding dimension from context and allocates tensor accordingly const auto& binding_info = binding_infos_[tensor_name]; - const auto binding_dims = cuda_engine_->getBindingDimensions(binding_info.index); + const auto binding_dims = cuda_engine_->getTensorShape(binding_info.binding_name.c_str()); auto dimensions = Dims2Dimensions(binding_dims); for (int i = 0; i < binding_dims.nbDims; i++) { - if (dimensions[i] < 0) { dimensions[i] = max_batch_size_.get(); } + if (dimensions[i] < 0) { + dimensions[i] = max_batch_size_.get(); + } } gxf::Shape shape{dimensions, binding_info.rank}; @@ -696,7 +668,8 @@ gxf_result_t TensorRtInference::tick() { } // Allocates gpu buffer for output tensors - cuda_buffers_[binding_info.index] = maybe_result_tensor.value()->pointer(); + cuda_execution_ctx_->setTensorAddress(binding_info.binding_name.c_str(), + maybe_result_tensor.value()->pointer()); } auto maybe_stream_id = result_message.add("TensorRTCuStream"); @@ -708,8 +681,7 @@ gxf_result_t TensorRtInference::tick() { GXF_ASSERT(maybe_stream_id.value()->stream_cid != kNullUid, "Internal error: stream_cid is null"); // Runs inference on specified CUDA stream - if (!cuda_execution_ctx_->enqueueV2(cuda_buffers_.data(), cached_cuda_stream_, - &cuda_event_consumed_)) { + if (!cuda_execution_ctx_->enqueueV3(cached_cuda_stream_)) { GXF_LOG_ERROR("TensorRT task enqueue for engine %s failed.", engine_file_path_.get().c_str()); return GXF_FAILURE; } @@ -723,7 +695,7 @@ gxf_result_t TensorRtInference::tick() { } // Record the job and proceed with execution - auto maybe_event = result_message.add("Infer complete event"); + auto maybe_event = result_message.add("GXF_TRT_INFER_COMPLETE"); auto& event = maybe_event.value(); auto ret = event->initWithEvent(cuda_event_done, device_id_); if (!ret) { diff --git a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.hpp b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.hpp index d7f2f54..237c65e 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.hpp +++ b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/gxf/extensions/tensor_rt/tensor_rt_inference.hpp @@ -68,17 +68,13 @@ class TensorRtInference : public gxf::Codelet { private: // Helper deleter to call destroy while destroying the cuda objects + + // unique_ptr template - struct DeleteFunctor { - inline void operator()(void* ptr) { reinterpret_cast(ptr)->destroy(); } - }; - // unique_ptr using custom Delete Functor above - template - using NvInferHandle = std::unique_ptr>; + using NvInferHandle = std::unique_ptr; // To cache binding info for tensors typedef struct { - int32_t index; uint32_t rank; std::string binding_name; gxf::PrimitiveType element_type; @@ -118,7 +114,6 @@ class TensorRtInference : public gxf::Codelet { NvInferHandle cuda_engine_; gxf::Handle cuda_stream_; - std::vector cuda_buffers_; cudaStream_t cached_cuda_stream_; cudaEvent_t cuda_event_consumed_; }; diff --git a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/package.xml index c5f7e8c..e2afd05 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_tensor_rt/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_tensor_rt - 3.1.0 + 3.2.0 TensorRT GXF extension. Isaac ROS Maintainers diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/CMakeLists.txt b/isaac_ros_gxf_extensions/gxf_isaac_triton/CMakeLists.txt index 0b7af41..38da585 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/CMakeLists.txt +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/CMakeLists.txt @@ -27,11 +27,11 @@ ament_auto_find_build_dependencies() # Determine the architecture if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64") - set(GXF_EXT_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/gxf_jetpack60") - set(NVDS_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/nvds/lib/gxf_jetpack60") + set(GXF_EXT_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/gxf_jetpack61") + set(NVDS_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/nvds/lib/gxf_jetpack61") elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64") - set(GXF_EXT_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/gxf_x86_64_cuda_12_2") - set(NVDS_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/nvds/lib/gxf_x86_64_cuda_12_2") + set(GXF_EXT_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/gxf_x86_64_cuda_12_6") + set(NVDS_LIB_PATH "${CMAKE_CURRENT_SOURCE_DIR}/nvds/lib/gxf_x86_64_cuda_12_6") else() message(FATAL_ERROR "Unsupported architecture: ${CMAKE_SYSTEM_PROCESSOR}") endif() @@ -67,4 +67,10 @@ ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) install(DIRECTORY ${NVDS_LIB_PATH}/ DESTINATION share/${PROJECT_NAME}/gxf/lib) + +# Embed versioning information into installed files +ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common) +include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake") +generate_version_info(${PROJECT_NAME}) + ament_auto_package(INSTALL_TO_SHARE) diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack60/libgxf_isaac_triton.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack60/libgxf_isaac_triton.so deleted file mode 100755 index a6a9bed..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack60/libgxf_isaac_triton.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:74d6d9a65e5067b8bee46168ef5e2051f9aa0ff5725df58ef0c77cd31f049888 -size 8608224 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack61/libgxf_isaac_triton.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack61/libgxf_isaac_triton.so new file mode 100755 index 0000000..4ff18ad --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack61/libgxf_isaac_triton.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:159d255e7632c0d91992bdb0867e3472c0e07070052d71ddc39f88dc98449d29 +size 14795088 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_2/libgxf_isaac_triton.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_2/libgxf_isaac_triton.so deleted file mode 100755 index 9ac1a17..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_2/libgxf_isaac_triton.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:559f1acd9c0efdd5317414aaed9012d85b544d814f4d0617cb46310b3a7bdba4 -size 6099112 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_6/libgxf_isaac_triton.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_6/libgxf_isaac_triton.so new file mode 100755 index 0000000..59c8351 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_6/libgxf_isaac_triton.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b925a2781ce46086c9d7ba97fb5adc24386b0214f1ec689e0741ba3adea36389 +size 6150320 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinfer.h b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinfer.h index 70f4593..d49fee0 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinfer.h +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinfer.h @@ -83,7 +83,9 @@ typedef enum /** Specifies INT8 format. */ INT8 = 2, /** Specifies INT32 format. */ - INT32 = 3 + INT32 = 3, + /** Specifies INT64 format. */ + INT64 = 4 } NvDsInferDataType; /** diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinferserver_config.proto b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinferserver_config.proto index 9ac2aec..d80f3f3 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinferserver_config.proto +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/include/nvdsinferserver_config.proto @@ -163,6 +163,9 @@ message BackendParams { * Default: MEMORY_TYPE_DEFAULT, it is Triton preferred memory type. */ MemoryType output_mem_type = 5; + + /** disable warmup */ + bool disable_warmup = 6; } /** extrac controls */ diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurface.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurface.so deleted file mode 100644 index 752f861..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurface.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fdacbf3b86b0f387ad624c1e5f2266f097e0038567443745314a61f1bf0d44b5 -size 855208 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurftransform.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurftransform.so deleted file mode 100755 index d34bdea..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurftransform.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:cea8d2395c328291be2e6b85b721cc6537f0d8d0ac2b4ed94311313448aed6dd -size 22221568 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_infer_server.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_infer_server.so deleted file mode 100755 index ddeaccc..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_infer_server.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6940f2372a5b44135e2696559d2324c54968b0a5b37a4099622d2536156251b2 -size 11690080 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_inferutils.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_inferutils.so deleted file mode 100755 index 32a48ba..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_inferutils.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3b4c7d1938430a328d619a0c2ce32029b39e8aa08a289477ab74a988d7463cca -size 136304 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbuf_fdmap.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbuf_fdmap.so similarity index 100% rename from isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbuf_fdmap.so rename to isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbuf_fdmap.so diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurface.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurface.so new file mode 100644 index 0000000..1a6838f --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurface.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f4510e0bbdde4590bedc0530c4dd209a96f40ec33d81549f1fd6d423c749177 +size 855328 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurftransform.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurftransform.so new file mode 100755 index 0000000..446095a --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurftransform.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e319bda235ec17f90cb2f3674872e0d510d601574a305c8b173a5eca9985ce70 +size 23925536 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_infer_server.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_infer_server.so new file mode 100755 index 0000000..1ee1f32 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_infer_server.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cea8b476e1d98af497b88648423ae08dde26dd8704e912732b8d3de19282c7c0 +size 12935832 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_inferlogger.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_inferlogger.so similarity index 100% rename from isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_inferlogger.so rename to isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_inferlogger.so diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_inferutils.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_inferutils.so new file mode 100755 index 0000000..fb6fe50 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_inferutils.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3b3add0e8be23f8ffae180615688716a0dfa21612e2a6cceaffa273ea3bbadb +size 137088 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libtritonserver.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libtritonserver.so new file mode 100755 index 0000000..5805900 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libtritonserver.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76584aa999c24a180f516e8b0e85b7eb1d13ccb264074cf82d9ca73f3410f52f +size 6989920 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbuf_fdmap.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbuf_fdmap.so deleted file mode 100755 index 691f923..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbuf_fdmap.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e03cda9e20d388ca6b0eca6cdc58f79eb99d3cc2913d734d1af1e1ec8247d3bd -size 21744 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurface.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurface.so deleted file mode 100755 index ef6bd67..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurface.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a10ef88abc193f624795de7bc3616bd8fcfcdb8cbbba1d1f131e16c7322bb170 -size 38504 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurftransform.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurftransform.so deleted file mode 100755 index 5f0176a..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurftransform.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a0fde2ba665dcac14a5f7f91d21c5289994d96715f71341b36ed46ea9380b669 -size 32082936 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_infer_server.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_infer_server.so deleted file mode 100644 index 96b2a9d..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_infer_server.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1ef46e14b5ee5774689d1dc021161123023646d59cb9b8e56c26f2cb9794c015 -size 21299704 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferlogger.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferlogger.so deleted file mode 100755 index 174ec23..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferlogger.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e79baad2a349288cdedb102f0abcde86ce7d27d2fc0494ae09c279d64860e3e3 -size 26080 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferutils.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferutils.so deleted file mode 100755 index 3262e65..0000000 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferutils.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:da819408b4a3f1b21b3c3c9607ceabbf4a31c3ba01536ded15b8cbff904f77da -size 163752 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbuf_fdmap.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbuf_fdmap.so new file mode 100755 index 0000000..2812325 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbuf_fdmap.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01aa4f6b4ca1abb6edd79edefc7751ccaddd11404ea251b81bd0c220f2d4272f +size 19208 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurface.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurface.so new file mode 100755 index 0000000..d2b1f48 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurface.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bca7d6db485f8890951f0c80f41bf0d62ef78006d3d03cda46533d2249b1969b +size 35376 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurftransform.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurftransform.so new file mode 100755 index 0000000..c5ada97 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurftransform.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a45adde84527aab21f9c81ded483a4cca8ef89e497fb8822f69d86bcdb22a74 +size 38875240 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_infer_server.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_infer_server.so new file mode 100755 index 0000000..16a36bc --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_infer_server.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e54d386556825ee7d96cd93eaac6834f6a40c1b639c7c84b47dfdabd48568e8e +size 21345424 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferlogger.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferlogger.so new file mode 100755 index 0000000..43259ad --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferlogger.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f336277a7ded55e602dbef558debf71becfefb8cd1d0ba683142e0dd674ec6e8 +size 26608 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferutils.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferutils.so new file mode 100755 index 0000000..f317529 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferutils.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7bff174d3777d8eb4d1cd37395afb51bc06ea6074b490ce025003b4603c3861 +size 143176 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libtritonserver.so b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libtritonserver.so new file mode 100755 index 0000000..ddec363 --- /dev/null +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libtritonserver.so @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:889512b9a13a9a4cb15e92321b30a89e4960553000fe8ab85b82007abf705c48 +size 31424120 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_triton/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_triton/package.xml index bcf0d75..a69c15c 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_triton/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_triton/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_triton - 3.1.0 + 3.2.0 Triton GXF extension. Isaac ROS Maintainers diff --git a/isaac_ros_tensor_proc/CMakeLists.txt b/isaac_ros_tensor_proc/CMakeLists.txt index 40e37cc..77b3798 100644 --- a/isaac_ros_tensor_proc/CMakeLists.txt +++ b/isaac_ros_tensor_proc/CMakeLists.txt @@ -72,6 +72,7 @@ ament_auto_add_library(image_tensor_normalize_node SHARED src/image_tensor_norma BUILD_RPATH_USE_ORIGIN TRUE INSTALL_RPATH_USE_LINK_PATH TRUE) +# Normalize ament_auto_add_library(normalize_node SHARED src/normalize_node.cpp) rclcpp_components_register_nodes(normalize_node "nvidia::isaac_ros::dnn_inference::NormalizeNode") @@ -86,6 +87,20 @@ if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() + # Gtest for interleaved_to_planar_node + ament_add_gtest(interleaved_to_planar_node_test test/interleaved_to_planar_node_test.cpp) + target_link_libraries(interleaved_to_planar_node_test interleaved_to_planar_node) + target_include_directories(interleaved_to_planar_node_test PUBLIC include/isaac_ros_tensor_proc/) + target_include_directories(interleaved_to_planar_node_test PUBLIC /usr/src/googletest/googlemock/include/) + ament_target_dependencies(interleaved_to_planar_node_test rclcpp) + ament_target_dependencies(interleaved_to_planar_node_test isaac_ros_nitros) + # Gtest for normalize_node + ament_add_gtest(normalize_node_test test/normalize_node_test.cpp) + target_link_libraries(normalize_node_test normalize_node) + target_include_directories(normalize_node_test PUBLIC include/isaac_ros_tensor_proc/) + target_include_directories(normalize_node_test PUBLIC /usr/src/googletest/googlemock/include/) + ament_target_dependencies(normalize_node_test rclcpp) + ament_target_dependencies(normalize_node_test isaac_ros_nitros) # The FindPythonInterp and FindPythonLibs modules are removed if(POLICY CMP0148) @@ -102,4 +117,10 @@ if(BUILD_TESTING) add_launch_test(test/isaac_ros_normalize_test.py) endif() + +# Embed versioning information into installed files +ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common) +include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake") +generate_version_info(${PROJECT_NAME}) + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/isaac_ros_tensor_proc/package.xml b/isaac_ros_tensor_proc/package.xml index 0c6216a..f0d95fb 100644 --- a/isaac_ros_tensor_proc/package.xml +++ b/isaac_ros_tensor_proc/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 isaac_ros_tensor_proc - 3.1.0 + 3.2.0 Processing operations for tensors Isaac ROS Maintainers Apache-2.0 @@ -47,6 +47,7 @@ SPDX-License-Identifier: Apache-2.0 ament_lint_auto ament_lint_common isaac_ros_test + ament_cmake_gtest ament_cmake diff --git a/isaac_ros_tensor_proc/src/image_tensor_normalize_node.cpp b/isaac_ros_tensor_proc/src/image_tensor_normalize_node.cpp index e584cf2..5ea77e7 100644 --- a/isaac_ros_tensor_proc/src/image_tensor_normalize_node.cpp +++ b/isaac_ros_tensor_proc/src/image_tensor_normalize_node.cpp @@ -138,13 +138,13 @@ ImageTensorNormalizeNode::ImageTensorNormalizeNode(const rclcpp::NodeOptions opt this, "tensor", nvidia::isaac_ros::nitros::nitros_tensor_list_nhwc_rgb_f32_t::supported_type_name, std::bind(&ImageTensorNormalizeNode::ImageTensorNormalizeCallback, this, - std::placeholders::_1), nvidia::isaac_ros::nitros::NitrosStatisticsConfig{}, input_qos_)}, + std::placeholders::_1), nvidia::isaac_ros::nitros::NitrosDiagnosticsConfig{}, input_qos_)}, nitros_tensor_pub_{std::make_shared< nvidia::isaac_ros::nitros::ManagedNitrosPublisher< nvidia::isaac_ros::nitros::NitrosTensorList>>( this, "normalized_tensor", nvidia::isaac_ros::nitros::nitros_tensor_list_nhwc_rgb_f32_t::supported_type_name, - nvidia::isaac_ros::nitros::NitrosStatisticsConfig{}, output_qos_)}, + nvidia::isaac_ros::nitros::NitrosDiagnosticsConfig{}, output_qos_)}, mean_param_{declare_parameter>("mean", {0.5, 0.5, 0.5})}, stddev_param_{declare_parameter>("stddev", {0.5, 0.5, 0.5})}, input_tensor_name_{declare_parameter("input_tensor_name", "tensor")}, diff --git a/isaac_ros_tensor_proc/src/image_to_tensor_node.cpp b/isaac_ros_tensor_proc/src/image_to_tensor_node.cpp index 50d60ee..29bb9c1 100644 --- a/isaac_ros_tensor_proc/src/image_to_tensor_node.cpp +++ b/isaac_ros_tensor_proc/src/image_to_tensor_node.cpp @@ -82,14 +82,14 @@ ImageToTensorNode::ImageToTensorNode(const rclcpp::NodeOptions options) ::nvidia::isaac_ros::nitros::NitrosImageView>>( this, "image", ::nvidia::isaac_ros::nitros::nitros_image_rgb8_t::supported_type_name, std::bind(&ImageToTensorNode::ImageToTensorCallback, this, - std::placeholders::_1), nvidia::isaac_ros::nitros::NitrosStatisticsConfig{}, + std::placeholders::_1), nvidia::isaac_ros::nitros::NitrosDiagnosticsConfig{}, input_qos_)}, nitros_tensor_pub_{std::make_shared< nvidia::isaac_ros::nitros::ManagedNitrosPublisher< nvidia::isaac_ros::nitros::NitrosTensorList>>( this, "tensor", nvidia::isaac_ros::nitros::nitros_tensor_list_nchw_rgb_f32_t::supported_type_name, - nvidia::isaac_ros::nitros::NitrosStatisticsConfig{}, output_qos_)}, + nvidia::isaac_ros::nitros::NitrosDiagnosticsConfig{}, output_qos_)}, scale_{declare_parameter("scale", true)}, tensor_name_{declare_parameter("tensor_name", "tensor")} { diff --git a/isaac_ros_tensor_proc/test/interleaved_to_planar_node_test.cpp b/isaac_ros_tensor_proc/test/interleaved_to_planar_node_test.cpp new file mode 100644 index 0000000..d908fdb --- /dev/null +++ b/isaac_ros_tensor_proc/test/interleaved_to_planar_node_test.cpp @@ -0,0 +1,51 @@ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 + +#include +#include "interleaved_to_planar_node.hpp" +#include "rclcpp/rclcpp.hpp" + +// Objective: to cover code lines where exceptions are thrown +// Approach: send Invalid Arguments for node parameters to trigger the exception + + +TEST(interleaved_to_planar_node_test, test_empty_input_tensor_shape) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_tensor_shape", std::vector()); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode interleaved_to_planar_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("The input shape is empty!")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/isaac_ros_tensor_proc/test/normalize_node_test.cpp b/isaac_ros_tensor_proc/test/normalize_node_test.cpp new file mode 100644 index 0000000..81b45f2 --- /dev/null +++ b/isaac_ros_tensor_proc/test/normalize_node_test.cpp @@ -0,0 +1,114 @@ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 + +#include +#include "normalize_node.hpp" +#include "rclcpp/rclcpp.hpp" + +// Objective: to cover code lines where exceptions are thrown +// Approach: send Invalid Arguments for node parameters to trigger the exception + + +TEST(normalize_node_test, test_invalid_input_image_width) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 0); + // options.arguments( + // { + // "--ros-args", + // "-p", "input_image_width:=0", + // }); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::NormalizeNode normalize_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Invalid input_image_width")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(normalize_node_test, test_invalid_input_image_height) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 1); + options.append_parameter_override("input_image_height", 0); + // options.arguments( + // { + // "--ros-args", + // "-p", "input_image_width:=1", + // // "-p", "input_image_height:=0", + // }); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::NormalizeNode normalize_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Invalid input_image_height")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(normalize_node_test, test_invalid_image_channels) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("input_image_width", 1); + options.append_parameter_override("input_image_height", 1); + options.append_parameter_override("image_mean", std::vector{0.5, 0.5}); + // options.arguments( + // { + // "--ros-args", + // "-p", "input_image_width:=1", + // "-p", "input_image_height:=1", + // "-p", "image_mean:=[0.5, 0.5]", + // }); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::NormalizeNode normalize_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT( + e.what(), + testing::HasSubstr("Did not receive 3 image mean channels or 3 image stddev channels")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/isaac_ros_tensor_rt/CMakeLists.txt b/isaac_ros_tensor_rt/CMakeLists.txt index de8b846..3d7b42a 100644 --- a/isaac_ros_tensor_rt/CMakeLists.txt +++ b/isaac_ros_tensor_rt/CMakeLists.txt @@ -26,11 +26,11 @@ find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() # Dependencies -find_package(TENSORRT 8 MODULE REQUIRED) +find_package(TENSORRT 10 MODULE REQUIRED) # TensorRTNode ament_auto_add_library(tensor_rt_node SHARED src/tensor_rt_node.cpp) -target_link_libraries(tensor_rt_node TENSORRT::nvonnxparser) +target_link_libraries(tensor_rt_node TENSORRT::nvinfer TENSORRT::nvinfer_plugin TENSORRT::nvonnxparser) rclcpp_components_register_nodes(tensor_rt_node "nvidia::isaac_ros::dnn_inference::TensorRTNode") set(node_plugins "${node_plugins}nvidia::isaac_ros::dnn_inference::TensorRTNode;$\n") set_target_properties(tensor_rt_node PROPERTIES @@ -60,4 +60,10 @@ if(BUILD_TESTING) add_launch_test(test/isaac_ros_tensor_rt_test.py TIMEOUT "300") endif() + +# Embed versioning information into installed files +ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common) +include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake") +generate_version_info(${PROJECT_NAME}) + ament_auto_package(INSTALL_TO_SHARE config launch) \ No newline at end of file diff --git a/isaac_ros_tensor_rt/package.xml b/isaac_ros_tensor_rt/package.xml index 97d3b8e..51d31b9 100644 --- a/isaac_ros_tensor_rt/package.xml +++ b/isaac_ros_tensor_rt/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 isaac_ros_tensor_rt - 3.1.0 + 3.2.0 DNN Inference support for Isaac ROS Isaac ROS Maintainers diff --git a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp index f6f6c54..06c9319 100644 --- a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp +++ b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp @@ -23,6 +23,7 @@ #include "NvInferPluginUtils.h" +#include "isaac_ros_common/qos.hpp" #include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp" #include "rclcpp/rclcpp.hpp" @@ -208,6 +209,22 @@ TensorRTNode::TensorRTNode(const rclcpp::NodeOptions & options) { RCLCPP_DEBUG(get_logger(), "[TensorRTNode] In TensorRTNode's constructor"); + // This function sets the QoS parameter for publishers and subscribers setup by this NITROS node + rclcpp::QoS input_qos_ = ::isaac_ros::common::AddQosParameter( + *this, "DEFAULT", + "input_qos"); + rclcpp::QoS output_qos_ = ::isaac_ros::common::AddQosParameter( + *this, "DEFAULT", + "output_qos"); + for (auto & config : config_map_) { + if (config.second.topic_name == INPUT_TOPIC_NAME) { + config.second.qos = input_qos_; + } + if (config.second.topic_name == OUTPUT_TOPIC_NAME) { + config.second.qos = output_qos_; + } + } + if (engine_file_path_.empty()) { throw std::invalid_argument( "[TensorRTNode] Empty engine_file_path_, " @@ -290,7 +307,7 @@ size_t TensorRTNode::determineMaxTensorBlockSize() uint64_t tensor_element_count = 1; for (int j = 0; j < shape.nbDims; j++) { - tensor_element_count *= std::max(shape.d[j], 1); + tensor_element_count *= std::max(shape.d[j], 1L); } uint64_t bytes_per_element; diff --git a/isaac_ros_tensor_rt/test/tensor_rt_node_test.cpp b/isaac_ros_tensor_rt/test/tensor_rt_node_test.cpp index b551c1c..489c776 100644 --- a/isaac_ros_tensor_rt/test/tensor_rt_node_test.cpp +++ b/isaac_ros_tensor_rt/test/tensor_rt_node_test.cpp @@ -24,17 +24,110 @@ TEST(tensor_rt_node_test, test_engine_file_path) { rclcpp::init(0, nullptr); rclcpp::NodeOptions options; + options.append_parameter_override("engine_file_path", ""); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TensorRTNode trt_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty engine_file_path")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(tensor_rt_node_test, test_empty_input_tensor_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("engine_file_path", "dummy_path"); + options.append_parameter_override("input_tensor_names", std::vector{}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TensorRTNode trt_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty input_tensor_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(tensor_rt_node_test, test_empty_input_binding_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("engine_file_path", "dummy_path"); + options.append_parameter_override("input_tensor_names", std::vector{"dummy"}); options.arguments( { "--ros-args", - "-p", "engine_file_path:=''", + "-p", "engine_file_path:='dummy_path'", + "-p", "input_tensor_names:=['dummy_path']", }); EXPECT_THROW( { try { nvidia::isaac_ros::dnn_inference::TensorRTNode trt_node(options); } catch (const std::invalid_argument & e) { - EXPECT_THAT(e.what(), testing::HasSubstr("Empty engine_file_path")); + EXPECT_THAT(e.what(), testing::HasSubstr("Empty input_binding_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(tensor_rt_node_test, test_empty_output_tensor_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("engine_file_path", "dummy_path"); + options.append_parameter_override("input_tensor_names", std::vector{"dummy"}); + options.append_parameter_override("input_binding_names", std::vector{"dummy"}); + options.append_parameter_override("output_binding_names", std::vector{"dummy"}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TensorRTNode trt_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty output_tensor_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(tensor_rt_node_test, test_empty_output_binding_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("engine_file_path", "dummy_path"); + options.append_parameter_override("input_tensor_names", std::vector{"dummy"}); + options.append_parameter_override("input_binding_names", std::vector{"dummy"}); + options.append_parameter_override("output_tensor_names", std::vector{"dummy"}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TensorRTNode trt_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty output_binding_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); throw; } }, std::invalid_argument); diff --git a/isaac_ros_triton/CMakeLists.txt b/isaac_ros_triton/CMakeLists.txt index 3e4e26e..71a7d1f 100644 --- a/isaac_ros_triton/CMakeLists.txt +++ b/isaac_ros_triton/CMakeLists.txt @@ -39,6 +39,13 @@ if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() + # Gtest for triton node + ament_add_gtest(triton_node_test test/triton_node_test.cpp) + target_link_libraries(triton_node_test triton_node) + target_include_directories(triton_node_test PUBLIC include/isaac_ros_triton_node/) + target_include_directories(triton_node_test PUBLIC /usr/src/googletest/googlemock/include/) + ament_target_dependencies(triton_node_test rclcpp) + ament_target_dependencies(triton_node_test isaac_ros_nitros) # The FindPythonInterp and FindPythonLibs modules are removed if(POLICY CMP0148) @@ -50,4 +57,10 @@ if(BUILD_TESTING) add_launch_test(test/isaac_ros_triton_test_tf.py TIMEOUT "300") endif() + +# Embed versioning information into installed files +ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common) +include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake") +generate_version_info(${PROJECT_NAME}) + ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/isaac_ros_triton/package.xml b/isaac_ros_triton/package.xml index a9f28be..0d97e1e 100644 --- a/isaac_ros_triton/package.xml +++ b/isaac_ros_triton/package.xml @@ -21,7 +21,7 @@ isaac_ros_triton - 3.1.0 + 3.2.0 DNN Inference support for Isaac ROS Isaac ROS Maintainers @@ -44,6 +44,7 @@ ament_lint_auto ament_lint_common isaac_ros_test + ament_cmake_gtest ament_cmake diff --git a/isaac_ros_triton/test/triton_node_test.cpp b/isaac_ros_triton/test/triton_node_test.cpp new file mode 100644 index 0000000..e64bab1 --- /dev/null +++ b/isaac_ros_triton/test/triton_node_test.cpp @@ -0,0 +1,168 @@ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 + +#include +#include "triton_node.hpp" +#include "rclcpp/rclcpp.hpp" + +// Objective: to cover code lines where exceptions are thrown +// Approach: send Invalid Arguments for node parameters to trigger the exception + +TEST(triton_node_test, test_empty_model_name) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("model_name", ""); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TritonNode triton_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty model_name")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(triton_node_test, test_empty_model_repository_paths) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("model_name", "dummy_name"); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TritonNode triton_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty model_repository_paths")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(triton_node_test, test_empty_input_tensor_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("model_name", "dummy_name"); + options.append_parameter_override( + "model_repository_paths", + std::vector{"dummy_path"}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TritonNode triton_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty input_tensor_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(triton_node_test, test_empty_input_binding_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("model_name", "dummy_name"); + options.append_parameter_override( + "model_repository_paths", + std::vector{"dummy_path"}); + options.append_parameter_override("input_tensor_names", std::vector{"dummy"}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TritonNode triton_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty input_binding_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(triton_node_test, test_empty_output_tensor_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("model_name", "dummy_name"); + options.append_parameter_override( + "model_repository_paths", + std::vector{"dummy_path"}); + options.append_parameter_override("input_tensor_names", std::vector{"dummy"}); + options.append_parameter_override("input_binding_names", std::vector{"dummy"}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TritonNode triton_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty output_tensor_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + +TEST(triton_node_test, test_empty_output_binding_names) +{ + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.append_parameter_override("model_name", "dummy_name"); + options.append_parameter_override( + "model_repository_paths", + std::vector{"dummy_path"}); + options.append_parameter_override("input_tensor_names", std::vector{"dummy"}); + options.append_parameter_override("input_binding_names", std::vector{"dummy"}); + options.append_parameter_override("output_tensor_names", std::vector{"dummy"}); + EXPECT_THROW( + { + try { + nvidia::isaac_ros::dnn_inference::TritonNode triton_node(options); + } catch (const std::invalid_argument & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("Empty output_binding_names")); + throw; + } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { + EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); + throw; + } + }, std::invalid_argument); + rclcpp::shutdown(); +} + + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +}