NVIDIA Isaac ROS - EA2 Release

release-ea2: bfbfeeb0670ae4c0c3e062d67ab737e4cb41a8b2

.gitattributes

@@ -0,0 +1,26 @@
+# Images
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.psd filter=lfs diff=lfs merge=lfs -text
+
+# Archives
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+# Documents
+*.pdf filter=lfs diff=lfs merge=lfs -text
+# Numpy data
+*.npy filter=lfs diff=lfs merge=lfs -text
+# Debian package
+*.deb filter=lfs diff=lfs merge=lfs -text
+
+# Shared libraries
+*.so filter=lfs diff=lfs merge=lfs -text
+*.so.* filter=lfs diff=lfs merge=lfs -text
+
+# PCD files
+*.pcd filter=lfs diff=lfs merge=lfs -text
+
+# Model files
+*.onnx filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,2 @@
+# Ignore all pycache files
+**/__pycache__/**

giistr-cla.md

@@ -0,0 +1,58 @@
+## Individual Contributor License Agreement (CLA)
+
+**Thank you for submitting your contributions to this project.**
+
+By signing this CLA, you agree that the following terms apply to all of your past, present and future contributions
+to the project.
+
+### License.
+
+You hereby represent that all present, past and future contributions are governed by the
+[MIT License](https://opensource.org/licenses/MIT)
+copyright statement.
+
+This entails that to the extent possible under law, you transfer all copyright and related or neighboring rights
+of the code or documents you contribute to the project itself or its maintainers.
+Furthermore you also represent that you have the authority to perform the above waiver
+with respect to the entirety of you contributions.
+
+### Moral Rights.
+
+To the fullest extent permitted under applicable law, you hereby waive, and agree not to
+assert, all of your “moral rights” in or relating to your contributions for the benefit of the project.
+
+### Third Party Content.
+
+If your Contribution includes or is based on any source code, object code, bug fixes, configuration changes, tools,
+specifications, documentation, data, materials, feedback, information or other works of authorship that were not
+authored by you (“Third Party Content”) or if you are aware of any third party intellectual property or proprietary
+rights associated with your Contribution (“Third Party Rights”),
+then you agree to include with the submission of your Contribution full details respecting such Third Party
+Content and Third Party Rights, including, without limitation, identification of which aspects of your
+Contribution contain Third Party Content or are associated with Third Party Rights, the owner/author of the
+Third Party Content and Third Party Rights, where you obtained the Third Party Content, and any applicable
+third party license terms or restrictions respecting the Third Party Content and Third Party Rights. For greater
+certainty, the foregoing obligations respecting the identification of Third Party Content and Third Party Rights
+do not apply to any portion of a Project that is incorporated into your Contribution to that same Project.
+
+### Representations.
+
+You represent that, other than the Third Party Content and Third Party Rights identified by
+you in accordance with this Agreement, you are the sole author of your Contributions and are legally entitled
+to grant the foregoing licenses and waivers in respect of your Contributions. If your Contributions were
+created in the course of your employment with your past or present employer(s), you represent that such
+employer(s) has authorized you to make your Contributions on behalf of such employer(s) or such employer
+(s) has waived all of their right, title or interest in or to your Contributions.
+
+### Disclaimer.
+
+To the fullest extent permitted under applicable law, your Contributions are provided on an "as is"
+basis, without any warranties or conditions, express or implied, including, without limitation, any implied
+warranties or conditions of non-infringement, merchantability or fitness for a particular purpose. You are not
+required to provide support for your Contributions, except to the extent you desire to provide support.
+
+### No Obligation.
+
+You acknowledge that the maintainers of this project are under no obligation to use or incorporate your contributions
+into the project. The decision to use or incorporate your contributions into the project will be made at the
+sole discretion of the maintainers or their authorized delegates.

isaac_ros_dnn_encoders/CMakeLists.txt

@@ -0,0 +1,51 @@
+# Copyright (c) 2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+cmake_minimum_required(VERSION 3.5)
+project(isaac_ros_dnn_encoders)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# DNN Image Encoder Node
+ament_auto_add_library(dnn_image_encoder_node SHARED src/dnn_image_encoder_node.cpp)
+target_compile_definitions(dnn_image_encoder_node
+  PRIVATE "COMPOSITION_BUILDING_DLL"
+)
+rclcpp_components_register_nodes(dnn_image_encoder_node "isaac_ros::dnn_inference::DnnImageEncoderNode")
+set(node_plugins "${node_plugins}isaac_ros::dnn_inference::DnnImageEncoderNode;$<TARGET_FILE:dnn_image_encoder_node>\n")
+
+ament_auto_add_executable("dnn_image_encoder" src/dnn_image_encoder_main.cpp)
+
+install(TARGETS dnn_image_encoder_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  # Ignore copyright notices since we use custom JetPack EULA
+  set(ament_cmake_copyright_FOUND TRUE)
+
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(launch_testing_ament_cmake REQUIRED)
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE)

isaac_ros_dnn_encoders/include/isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp

@@ -0,0 +1,68 @@
+/**
+ * Copyright (c) 2021, NVIDIA CORPORATION.  All rights reserved.
+ *
+ * NVIDIA CORPORATION and its licensors retain all intellectual property
+ * and proprietary rights in and to this software, related documentation
+ * and any modifications thereto.  Any use, reproduction, disclosure or
+ * distribution of this software and related documentation without an express
+ * license agreement from NVIDIA CORPORATION is strictly prohibited.
+ */
+
+#ifndef ISAAC_ROS_DNN_ENCODERS__DNN_IMAGE_ENCODER_NODE_HPP_
+#define ISAAC_ROS_DNN_ENCODERS__DNN_IMAGE_ENCODER_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "image_transport/image_transport.hpp"
+#include "isaac_ros_nvengine_interfaces/msg/tensor_list.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace isaac_ros
+{
+namespace dnn_inference
+{
+
+class DnnImageEncoderNode : public rclcpp::Node
+{
+public:
+  explicit DnnImageEncoderNode(const rclcpp::NodeOptions options = rclcpp::NodeOptions());
+
+  ~DnnImageEncoderNode();
+
+private:
+/**
+ * @brief Callback to preprocess an image for the DNN inference node and then publish
+ *         the processed Tensor for the DNN inference node to use
+ *
+ * @param image_msg The image message received
+ */
+  void DnnImageEncoderCallback(
+    const sensor_msgs::msg::Image::ConstSharedPtr image_msg);
+
+  // Desired properties of the image
+  const int network_image_width_;
+  const int network_image_height_;
+  const std::string network_image_encoding_;
+
+  // Name of the published Tensor message
+  const std::string tensor_name_;
+
+  // Method to normalize image. Supported types are "unit_scaling" (range is [0, 1]),
+  // and "positive_negative" (range is [-1, 1]) and "none" for no normalization
+  const std::string network_normalization_type_;
+
+  // Image subscriber
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
+
+  // Publisher for outputting the processed image as a TensorList (containing one Tensor)
+  rclcpp::Publisher<isaac_ros_nvengine_interfaces::msg::TensorList>::SharedPtr tensor_pub_;
+
+  struct DnnImageEncoderImpl;
+  std::unique_ptr<DnnImageEncoderImpl> impl_;  // Pointer to implementation
+};
+
+}  // namespace dnn_inference
+}  // namespace isaac_ros
+
+#endif  // ISAAC_ROS_DNN_ENCODERS__DNN_IMAGE_ENCODER_NODE_HPP_

isaac_ros_dnn_encoders/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?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_encoders</name>
+  <version>0.9.0</version>
+  <description>Encoders for preprocessing before running deep learning inference</description>
+  <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>
+  <license>Jetpack EULA</license>
+  <url type="website">https://developer.nvidia.com/blog/accelerating-ai-modules-for-ros-and-ros-2-on-jetson/</url>
+  <author>Ethan Yu</author>
+  <author>Kajanan Chinniah</author>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>image_transport</depend>
+  <depend>cv_bridge</depend>
+  <depend>isaac_ros_nvengine_interfaces</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

isaac_ros_dnn_encoders/src/dnn_image_encoder_main.cpp

@@ -0,0 +1,22 @@
+/*
+ * Copyright (c) 2021, NVIDIA CORPORATION.  All rights reserved.
+ *
+ * NVIDIA CORPORATION and its licensors retain all intellectual property
+ * and proprietary rights in and to this software, related documentation
+ * and any modifications thereto.  Any use, reproduction, disclosure or
+ * distribution of this software and related documentation without an express
+ * license agreement from NVIDIA CORPORATION is strictly prohibited.
+ */
+
+#include <rclcpp/rclcpp.hpp>
+#include <memory>
+#include "isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp"
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  rclcpp::spin(std::make_shared<isaac_ros::dnn_inference::DnnImageEncoderNode>(options));
+  rclcpp::shutdown();
+  return 0;
+}