diff --git a/README.md b/README.md index 9860137..c8bb695 100644 --- a/README.md +++ b/README.md @@ -61,16 +61,18 @@ The following are the benchmark performance results of the prepared pipelines in - [Updates](#updates) ## Latest Update -Update 2022-06-30: Added format string parameter in Triton/TensorRT, switched to NITROS implementation, removed parameters in DNN Image Encoder +Update 2022-08-31: Update to be compatible with JetPack 5.0.2 ## Supported Platforms This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU. +> **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release. + | Platform | Hardware | Software | Notes | | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.1 DP](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. | +| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. | | x86_64 | NVIDIA GPU | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) | @@ -81,6 +83,7 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock ## Quickstart with Triton + > **Note**: The quickstart helps with getting raw inference (tensor) results from the two nodes. To use the packages in a useful context and get meaningful results from the package, please refer [here](#use-different-models). 1. Set up your development environment by following the instructions [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md). 2. Clone this repository and its dependencies under `~/workspaces/isaac_ros-dev/src`. @@ -390,6 +393,7 @@ For solutions to problems with using DNN models, please check [here](docs/troubl ## Updates | Date | Changes | | ---------- | ---------------------------------------------------------------------------------------------------------------------------- | +| 2022-08-31 | Update to be compatible with JetPack 5.0.2 | | 2022-06-30 | Added format string parameter in Triton/TensorRT, switched to NITROS implementation, removed parameters in DNN Image Encoder | | 2021-11-03 | Split DOPE and U-Net into separate repositories | | 2021-10-20 | Initial release | diff --git a/isaac_ros_dnn_encoders/package.xml b/isaac_ros_dnn_encoders/package.xml index c456f49..4da1f93 100644 --- a/isaac_ros_dnn_encoders/package.xml +++ b/isaac_ros_dnn_encoders/package.xml @@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. isaac_ros_dnn_encoders - 0.9.0 + 0.11.0 Encoders for preprocessing before running deep learning inference Hemal Shah NVIDIA Isaac ROS Software License @@ -25,6 +25,8 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. rclcpp rclcpp_components isaac_ros_nitros + isaac_ros_nitros_image_type + isaac_ros_nitros_tensor_list_type ament_lint_auto ament_lint_common diff --git a/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp b/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp index c1d2b29..06e83d8 100644 --- a/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp +++ b/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp @@ -15,7 +15,8 @@ #include #include -#include "isaac_ros_nitros/types/nitros_image.hpp" +#include "isaac_ros_nitros_image_type/nitros_image.hpp" +#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp" namespace nvidia { @@ -113,6 +114,9 @@ DnnImageEncoderNode::DnnImageEncoderNode(const rclcpp::NodeOptions options) "this needs to be set per the model input requirements."); } + registerSupportedType(); + registerSupportedType(); + startNitrosNode(); } diff --git a/isaac_ros_dnn_inference_test/package.xml b/isaac_ros_dnn_inference_test/package.xml index 6a0e3a6..fc8901c 100644 --- a/isaac_ros_dnn_inference_test/package.xml +++ b/isaac_ros_dnn_inference_test/package.xml @@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. isaac_ros_dnn_inference_test - 0.1.0 + 0.11.0 DNN Inference support for Isaac ROS Hemal Shah diff --git a/isaac_ros_tensor_rt/package.xml b/isaac_ros_tensor_rt/package.xml index 0318959..f7ce36b 100644 --- a/isaac_ros_tensor_rt/package.xml +++ b/isaac_ros_tensor_rt/package.xml @@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. isaac_ros_tensor_rt - 0.1.0 + 0.11.0 DNN Inference support for Isaac ROS CY Chen @@ -30,6 +30,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. rclcpp rclcpp_components isaac_ros_nitros + isaac_ros_nitros_tensor_list_type ament_lint_auto ament_lint_common diff --git a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp index 7fbbf1d..a7515be 100644 --- a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp +++ b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp @@ -14,6 +14,8 @@ #include #include +#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp" + #include "rclcpp/rclcpp.hpp" #include "rclcpp_components/register_node_macro.hpp" @@ -155,6 +157,8 @@ TensorRTNode::TensorRTNode(const rclcpp::NodeOptions & options) output_tensor_formats_[0].c_str()); } + registerSupportedType(); + startNitrosNode(); } diff --git a/isaac_ros_triton/package.xml b/isaac_ros_triton/package.xml index f6e26f6..b219ec7 100644 --- a/isaac_ros_triton/package.xml +++ b/isaac_ros_triton/package.xml @@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. isaac_ros_triton - 0.10.0 + 0.11.0 DNN Inference support for Isaac ROS CY Chen @@ -27,6 +27,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited. rclcpp rclcpp_components isaac_ros_nitros + isaac_ros_nitros_tensor_list_type ament_lint_auto ament_lint_common diff --git a/isaac_ros_triton/src/triton_node.cpp b/isaac_ros_triton/src/triton_node.cpp index cda2fa6..9f682c3 100644 --- a/isaac_ros_triton/src/triton_node.cpp +++ b/isaac_ros_triton/src/triton_node.cpp @@ -17,6 +17,8 @@ #include #include +#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list.hpp" + #include "rclcpp/rclcpp.hpp" #include "rclcpp_components/register_node_macro.hpp" @@ -153,6 +155,8 @@ TritonNode::TritonNode(const rclcpp::NodeOptions & options) output_tensor_formats_[0].c_str()); } + registerSupportedType(); + startNitrosNode(); }