Merge pull request #51 from NVIDIA-ISAAC-ROS/release-3.1

Isaac ROS 3.1
NVIDIA-ISAAC-ROS · Sep 27, 2024 · 2b07136 · 2b07136
2 parents 34eaccc + a8a6625
commit 2b07136
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Showing 11 changed files with 18 additions and 12 deletions.
diff --git a/README.md b/README.md
@@ -78,4 +78,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-05-30: Update to be compatible with JetPack 6.0
+Update 2024-09-26: Update for ZED compatibility
diff --git a/isaac_ros_depth_image_proc/package.xml b/isaac_ros_depth_image_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_depth_image_proc</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Stereo and disparity processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_gxf_extensions/gxf_isaac_depth_image_proc/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_depth_image_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>gxf_isaac_depth_image_proc</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Depth Proc GXF extension</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_gxf_extensions/gxf_isaac_image_flip/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_image_flip/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_image_flip</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Image Flip GXF extension.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_gxf_extensions/gxf_isaac_rectify/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_rectify/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_rectify</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>GXF extension containing components for rectify.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_gxf_extensions/gxf_isaac_sgm/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_sgm/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_sgm</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Disparity GXF extension.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_gxf_extensions/gxf_isaac_tensorops/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_tensorops/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_tensorops</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>GXF extension of generic CVCORE tensor_ops interfaces.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_image_pipeline/package.xml b/isaac_ros_image_pipeline/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_image_pipeline</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Core image processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_image_proc/launch/isaac_ros_image_resize_core.launch.py b/isaac_ros_image_proc/launch/isaac_ros_image_resize_core.launch.py
@@ -23,6 +23,12 @@
 
 class IsaacROSResizeLaunchFragment(IsaacROSLaunchFragment):
 
+    @staticmethod
+    def get_interface_specs() -> Dict[str, Any]:
+        return {
+            'resize': {'width': 480, 'height': 288},
+        }
+
     @staticmethod
     def get_composable_nodes(interface_specs: Dict[str, Any]) -> Dict[str, ComposableNode]:
         return {
@@ -31,8 +37,8 @@ def get_composable_nodes(interface_specs: Dict[str, Any]) -> Dict[str, Composabl
                 plugin='nvidia::isaac_ros::image_proc::ResizeNode',
                 name='resize',
                 parameters=[{
-                    'output_width': 480,
-                    'output_height': 288,
+                    'output_width': interface_specs['resize']['width'],
+                    'output_height': interface_specs['resize']['height'],
                 }],
                 remappings=[
                     ('image', 'image_raw'),

diff --git a/isaac_ros_image_proc/package.xml b/isaac_ros_image_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_image_proc</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Single image rectification and color processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_stereo_image_proc/package.xml b/isaac_ros_stereo_image_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_stereo_image_proc</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Stereo and disparity processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>