From 089480e977564463c13be85423f4e8b2a427b0c2 Mon Sep 17 00:00:00 2001
From: Jaiveer Singh <jaiveers@nvidia.com>
Date: Tue, 10 Dec 2024 17:44:20 -0800
Subject: [PATCH] Isaac ROS 3.2

---
 README.md                                     |  16 +-
 isaac_ros_dnn_image_encoder/CMakeLists.txt    |  13 ++
 .../launch/dnn_image_encoder.launch.py        |  60 +++++--
 isaac_ros_dnn_image_encoder/package.xml       |   3 +-
 .../test/dnn_image_encoder_node_test.cpp      | 114 ++++++++++++
 ...c_ros_dnn_image_encoder_image_crop_test.py |  10 +-
 .../gxf_isaac_tensor_rt/CMakeLists.txt        |  10 +-
 .../tensor_rt/tensor_rt_extension.cpp         |   2 +-
 .../tensor_rt/tensor_rt_inference.cpp         | 110 +++++-------
 .../tensor_rt/tensor_rt_inference.hpp         |  11 +-
 .../gxf_isaac_tensor_rt/package.xml           |   2 +-
 .../gxf_isaac_triton/CMakeLists.txt           |  14 +-
 .../lib/gxf_jetpack60/libgxf_isaac_triton.so  |   3 -
 .../lib/gxf_jetpack61/libgxf_isaac_triton.so  |   3 +
 .../libgxf_isaac_triton.so                    |   3 -
 .../libgxf_isaac_triton.so                    |   3 +
 .../gxf_isaac_triton/nvds/include/nvdsinfer.h |   4 +-
 .../nvds/include/nvdsinferserver_config.proto |   3 +
 .../nvds/lib/gxf_jetpack60/libnvbufsurface.so |   3 -
 .../gxf_jetpack60/libnvbufsurftransform.so    |   3 -
 .../lib/gxf_jetpack60/libnvds_infer_server.so |   3 -
 .../lib/gxf_jetpack60/libnvds_inferutils.so   |   3 -
 .../libnvbuf_fdmap.so                         |   0
 .../nvds/lib/gxf_jetpack61/libnvbufsurface.so |   3 +
 .../gxf_jetpack61/libnvbufsurftransform.so    |   3 +
 .../lib/gxf_jetpack61/libnvds_infer_server.so |   3 +
 .../libnvds_inferlogger.so                    |   0
 .../lib/gxf_jetpack61/libnvds_inferutils.so   |   3 +
 .../nvds/lib/gxf_jetpack61/libtritonserver.so |   3 +
 .../gxf_x86_64_cuda_12_2/libnvbuf_fdmap.so    |   3 -
 .../gxf_x86_64_cuda_12_2/libnvbufsurface.so   |   3 -
 .../libnvbufsurftransform.so                  |   3 -
 .../libnvds_infer_server.so                   |   3 -
 .../libnvds_inferlogger.so                    |   3 -
 .../libnvds_inferutils.so                     |   3 -
 .../gxf_x86_64_cuda_12_6/libnvbuf_fdmap.so    |   3 +
 .../gxf_x86_64_cuda_12_6/libnvbufsurface.so   |   3 +
 .../libnvbufsurftransform.so                  |   3 +
 .../libnvds_infer_server.so                   |   3 +
 .../libnvds_inferlogger.so                    |   3 +
 .../libnvds_inferutils.so                     |   3 +
 .../gxf_x86_64_cuda_12_6/libtritonserver.so   |   3 +
 .../gxf_isaac_triton/package.xml              |   2 +-
 isaac_ros_tensor_proc/CMakeLists.txt          |  21 +++
 isaac_ros_tensor_proc/package.xml             |   3 +-
 .../src/image_tensor_normalize_node.cpp       |   4 +-
 .../src/image_to_tensor_node.cpp              |   4 +-
 .../test/interleaved_to_planar_node_test.cpp  |  51 ++++++
 .../test/normalize_node_test.cpp              | 114 ++++++++++++
 isaac_ros_tensor_rt/CMakeLists.txt            |  10 +-
 isaac_ros_tensor_rt/package.xml               |   2 +-
 isaac_ros_tensor_rt/src/tensor_rt_node.cpp    |  19 +-
 .../test/tensor_rt_node_test.cpp              |  97 +++++++++-
 isaac_ros_triton/CMakeLists.txt               |  13 ++
 isaac_ros_triton/package.xml                  |   3 +-
 isaac_ros_triton/test/triton_node_test.cpp    | 168 ++++++++++++++++++
 56 files changed, 794 insertions(+), 167 deletions(-)
 create mode 100644 isaac_ros_dnn_image_encoder/test/dnn_image_encoder_node_test.cpp
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack60/libgxf_isaac_triton.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_jetpack61/libgxf_isaac_triton.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_2/libgxf_isaac_triton.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/lib/gxf_x86_64_cuda_12_6/libgxf_isaac_triton.so
 delete mode 100644 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurface.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvbufsurftransform.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_infer_server.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack60/libnvds_inferutils.so
 rename isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/{gxf_jetpack60 => gxf_jetpack61}/libnvbuf_fdmap.so (100%)
 create mode 100644 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurface.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvbufsurftransform.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_infer_server.so
 rename isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/{gxf_jetpack60 => gxf_jetpack61}/libnvds_inferlogger.so (100%)
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libnvds_inferutils.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_jetpack61/libtritonserver.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbuf_fdmap.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurface.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvbufsurftransform.so
 delete mode 100644 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_infer_server.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferlogger.so
 delete mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_2/libnvds_inferutils.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbuf_fdmap.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurface.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvbufsurftransform.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_infer_server.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferlogger.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libnvds_inferutils.so
 create mode 100755 isaac_ros_gxf_extensions/gxf_isaac_triton/nvds/lib/gxf_x86_64_cuda_12_6/libtritonserver.so
 create mode 100644 isaac_ros_tensor_proc/test/interleaved_to_planar_node_test.cpp
 create mode 100644 isaac_ros_tensor_proc/test/normalize_node_test.cpp
 create mode 100644 isaac_ros_triton/test/triton_node_test.cpp

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<br/><br/>                                                                                                                                                                                       | Input Size<br/><br/>     | AGX Orin<br/><br/>                                                                                                                                                       | Orin NX<br/><br/>                                                                                                                                                       | Orin Nano 8GB<br/><br/>                                                                                                                                                 | x86_64 w/ RTX 4060 Ti<br/><br/>                                                                                                                                             | x86_64 w/ RTX 4090<br/><br/>                                                                                                                                              |
-|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [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)<br/><br/><br/>DOPE<br/><br/>            | VGA<br/><br/><br/><br/>  | [48.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/>   | [17.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br/><br/><br/>56 ms @ 30Hz<br/><br/>   | [13.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)<br/><br/><br/>82 ms @ 30Hz<br/><br/> | [98.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-nuc_4060ti.json)<br/><br/><br/>13 ms @ 30Hz<br/><br/>    | [296 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86_4090.json)<br/><br/><br/>5.1 ms @ 30Hz<br/><br/>    |
-| [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)<br/><br/><br/>DOPE<br/><br/>                    | VGA<br/><br/><br/><br/>  | [47.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/>      | [20.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br/><br/><br/>540 ms @ 30Hz<br/><br/>     | [14.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)<br/><br/><br/>790 ms @ 30Hz<br/><br/>   | [94.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-nuc_4060ti.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/>       | [254 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86_4090.json)<br/><br/><br/>4.6 ms @ 30Hz<br/><br/>       |
-| [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)<br/><br/><br/>PeopleSemSegNet<br/><br/>   | 544p<br/><br/><br/><br/> | [460 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br/><br/><br/>4.1 ms @ 30Hz<br/><br/>     | [348 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br/><br/><br/>6.1 ms @ 30Hz<br/><br/>     | [238 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)<br/><br/><br/>7.0 ms @ 30Hz<br/><br/>   | [685 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)<br/><br/><br/>2.9 ms @ 30Hz<br/><br/>      | [675 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-x86_4090.json)<br/><br/><br/>3.0 ms @ 30Hz<br/><br/>      |
-| [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)<br/><br/><br/>PeopleSemSegNet<br/><br/>           | 544p<br/><br/><br/><br/> | [304 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br/><br/><br/>4.8 ms @ 30Hz<br/><br/>        | [206 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br/><br/><br/>6.5 ms @ 30Hz<br/><br/>        | –<br/><br/><br/><br/>                                                                                                                                                   | [677 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)<br/><br/><br/>2.2 ms @ 30Hz<br/><br/>         | [619 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-x86_4090.json)<br/><br/><br/>1.9 ms @ 30Hz<br/><br/>         |
-| [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)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/>  | [522 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [330 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/>                                                                                                                                                   | [811 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-nuc_4060ti.json)<br/><br/><br/>6.6 ms @ 30Hz<br/><br/> | [822 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86_4090.json)<br/><br/><br/>6.4 ms @ 30Hz<br/><br/> |
+| Sample Graph<br/><br/>                                                                                                                                                                                       | Input Size<br/><br/>     | AGX Orin<br/><br/>                                                                                                                                                       | Orin NX<br/><br/>                                                                                                                                                       | Orin Nano 8GB<br/><br/>                                                                                                                                                 | x86_64 w/ RTX 4090<br/><br/>                                                                                                                                              |
+|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [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)<br/><br/><br/>DOPE<br/><br/>            | VGA<br/><br/><br/><br/>  | [47.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/>   | [18.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nx.json)<br/><br/><br/>56 ms @ 30Hz<br/><br/>   | [13.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-orin_nano.json)<br/><br/><br/>81 ms @ 30Hz<br/><br/> | [298 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_dope_node-x86-4090.json)<br/><br/><br/>4.6 ms @ 30Hz<br/><br/>    |
+| [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)<br/><br/><br/>DOPE<br/><br/>                    | VGA<br/><br/><br/><br/>  | [47.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/>      | [20.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nx.json)<br/><br/><br/>530 ms @ 30Hz<br/><br/>     | [14.5 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-orin_nano.json)<br/><br/><br/>780 ms @ 30Hz<br/><br/>   | [276 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_dope_node-x86-4090.json)<br/><br/><br/>4.6 ms @ 30Hz<br/><br/>       |
+| [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)<br/><br/><br/>PeopleSemSegNet<br/><br/>   | 544p<br/><br/><br/><br/> | [460 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-agx_orin.json)<br/><br/><br/>4.1 ms @ 30Hz<br/><br/>     | [348 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nx.json)<br/><br/><br/>6.1 ms @ 30Hz<br/><br/>     | [238 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-orin_nano.json)<br/><br/><br/>7.0 ms @ 30Hz<br/><br/>   | [685 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_tensor_rt_ps_node-nuc_4060ti.json)<br/><br/><br/>2.9 ms @ 30Hz<br/><br/>    |
+| [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)<br/><br/><br/>PeopleSemSegNet<br/><br/>           | 544p<br/><br/><br/><br/> | [304 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-agx_orin.json)<br/><br/><br/>4.8 ms @ 30Hz<br/><br/>        | [206 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-orin_nx.json)<br/><br/><br/>6.5 ms @ 30Hz<br/><br/>        | –<br/><br/><br/><br/>                                                                                                                                                   | [677 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_triton_ps_node-nuc_4060ti.json)<br/><br/><br/>2.2 ms @ 30Hz<br/><br/>       |
+| [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)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/>  | [420 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-agx_orin.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> | [382 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-orin_nx.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/>                                                                                                                                                   | [574 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dnn_image_encoder_node-x86-4090.json)<br/><br/><br/>5.2 ms @ 30Hz<br/><br/> |
 
 ---
 
@@ -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
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_dnn_image_encoder</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Encoder for preprocessing images into tensors for deep learning inference</description>
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>
@@ -48,6 +48,7 @@ SPDX-License-Identifier: Apache-2.0
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>isaac_ros_test</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
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 <gmock/gmock.h>
+#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<gxf::PrimitiveType> 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<int>(total_bindings_number)) {
+  if (cuda_engine_->getNbIOTensors() != static_cast<int>(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<int>(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<uint32_t>(dims.nbDims), binding_name,
-                    maybe_element_type.value(), Dims2Dimensions(dims)};
+        BindingInfo{static_cast<uint32_t>(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<int>(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<uint32_t>(dims.nbDims), binding_name,
-                    maybe_element_type.value(), Dims2Dimensions(dims)};
-    cuda_buffers_[binding_index] = nullptr;  // populate cuda_buffers dynamically, in tick()
+        BindingInfo{static_cast<uint32_t>(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<std::vector<char>> TensorRtInference::convertModelToEngine() {
 
   // Builder Config provides options to the Builder
   NvInferHandle<nvinfer1::IBuilderConfig> 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<std::vector<char>> TensorRtInference::convertModelToEngine() {
   builderConfig->addOptimizationProfile(optimization_profile);
 
   // Creates TensorRT Engine Plan
-  NvInferHandle<nvinfer1::ICudaEngine> engine(
-      builder->buildEngineWithConfig(*network, *builderConfig));
-  if (!engine) {
+  NvInferHandle<nvinfer1::IHostMemory> 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<nvinfer1::IHostMemory> 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<std::vector<char>> 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<gxf::CudaStreamId>("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<CudaEvent>("Infer complete event");
+  auto maybe_event = result_message.add<CudaEvent>("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 <typename T>
-  struct DeleteFunctor {
-    inline void operator()(void* ptr) { reinterpret_cast<T*>(ptr)->destroy(); }
-  };
-  // unique_ptr using custom Delete Functor above
-  template <typename T>
-  using NvInferHandle = std::unique_ptr<T, DeleteFunctor<T>>;
+  using NvInferHandle = std::unique_ptr<T>;
 
   // 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<nvinfer1::ICudaEngine> cuda_engine_;
 
   gxf::Handle<gxf::CudaStream> cuda_stream_;
-  std::vector<void*> 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
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gxf_isaac_tensor_rt</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>TensorRT GXF extension.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
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
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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
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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
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gxf_isaac_triton</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Triton GXF extension.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
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
 <?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_proc</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Processing operations for tensors</description>
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>
@@ -47,6 +47,7 @@ SPDX-License-Identifier: Apache-2.0
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>isaac_ros_test</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
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<std::vector<double>>("mean", {0.5, 0.5, 0.5})},
   stddev_param_{declare_parameter<std::vector<double>>("stddev", {0.5, 0.5, 0.5})},
   input_tensor_name_{declare_parameter<std::string>("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<bool>("scale", true)},
   tensor_name_{declare_parameter<std::string>("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 <gmock/gmock.h>
+#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<int64_t>());
+  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 <gmock/gmock.h>
+#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<double>{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 "${node_plugins}nvidia::isaac_ros::dnn_inference::TensorRTNode;$<TARGET_FILE:tensor_rt_node>\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
 <?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_rt</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>DNN Inference support for Isaac ROS</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
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<std::string>{});
+  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<std::string>{"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<std::string>{"dummy"});
+  options.append_parameter_override("input_binding_names", std::vector<std::string>{"dummy"});
+  options.append_parameter_override("output_binding_names", std::vector<std::string>{"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<std::string>{"dummy"});
+  options.append_parameter_override("input_binding_names", std::vector<std::string>{"dummy"});
+  options.append_parameter_override("output_tensor_names", std::vector<std::string>{"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 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_triton</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>DNN Inference support for Isaac ROS</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
@@ -44,6 +44,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>isaac_ros_test</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
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 <gmock/gmock.h>
+#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<std::string>{"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<std::string>{"dummy_path"});
+  options.append_parameter_override("input_tensor_names", std::vector<std::string>{"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<std::string>{"dummy_path"});
+  options.append_parameter_override("input_tensor_names", std::vector<std::string>{"dummy"});
+  options.append_parameter_override("input_binding_names", std::vector<std::string>{"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<std::string>{"dummy_path"});
+  options.append_parameter_override("input_tensor_names", std::vector<std::string>{"dummy"});
+  options.append_parameter_override("input_binding_names", std::vector<std::string>{"dummy"});
+  options.append_parameter_override("output_tensor_names", std::vector<std::string>{"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();
+}