From bfe1b1d0745b988e984aa2213d141fa29c11d614 Mon Sep 17 00:00:00 2001 From: Jaiveer Singh Date: Fri, 27 Sep 2024 05:25:28 +0000 Subject: [PATCH] Isaac ROS 3.1 --- README.md | 2 +- isaac_ros_centerpose/package.xml | 2 +- isaac_ros_dope/package.xml | 2 +- ...oundationpose_isaac_sim_tracking.launch.py | 7 - isaac_ros_foundationpose/package.xml | 2 +- .../rviz/foundationpose_zed.rviz | 201 ++++++++++++++++++ .../gxf_isaac_centerpose/package.xml | 2 +- .../gxf_isaac_dope/package.xml | 2 +- .../gxf_isaac_foundationpose/package.xml | 2 +- .../foundationpose_tracking.bag_0.db3 | 3 - .../foundationpose_tracking.bag/metadata.yaml | 3 - 11 files changed, 208 insertions(+), 20 deletions(-) create mode 100644 isaac_ros_foundationpose/rviz/foundationpose_zed.rviz delete mode 100644 resources/rosbags/foundationpose_tracking.bag/foundationpose_tracking.bag_0.db3 delete mode 100644 resources/rosbags/foundationpose_tracking.bag/metadata.yaml diff --git a/README.md b/README.md index 95901a3..510f649 100644 --- a/README.md +++ b/README.md @@ -115,4 +115,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re ## Latest -Update 2024-05-30: Added FoundationPose pose estimation package +Update 2024-09-26: Update for ZED compatibility diff --git a/isaac_ros_centerpose/package.xml b/isaac_ros_centerpose/package.xml index 8ec8d45..f9ba1dd 100644 --- a/isaac_ros_centerpose/package.xml +++ b/isaac_ros_centerpose/package.xml @@ -21,7 +21,7 @@ isaac_ros_centerpose - 3.0.1 + 3.1.0 CenterPose: Pose Estimation using Deep Learning Isaac ROS Maintainers diff --git a/isaac_ros_dope/package.xml b/isaac_ros_dope/package.xml index 3c100ec..bc9a520 100644 --- a/isaac_ros_dope/package.xml +++ b/isaac_ros_dope/package.xml @@ -21,7 +21,7 @@ isaac_ros_dope - 3.0.1 + 3.1.0 Deep learning based pose estimation Isaac ROS Maintainers diff --git a/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim_tracking.launch.py b/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim_tracking.launch.py index 9157f7d..6ab3c1a 100644 --- a/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim_tracking.launch.py +++ b/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim_tracking.launch.py @@ -244,12 +244,6 @@ def generate_launch_description(): ) # Convert Detection2DArray from RT-DETR to a binary segmentation mask - detection2_d_array_filter_node = ComposableNode( - name='detection2_d_array_filter', - package='isaac_ros_foundationpose', - plugin='nvidia::isaac_ros::foundationpose::Detection2DArrayFilter', - remappings=[('detection2_d_array', 'detections_output')] - ) detection2_d_to_mask_node = ComposableNode( name='detection2_d_to_mask', package='isaac_ros_foundationpose', @@ -427,7 +421,6 @@ def generate_launch_description(): rtdetr_preprocessor_node, tensor_rt_node, rtdetr_decoder_node, - detection2_d_array_filter_node, detection2_d_to_mask_node, resize_mask_node, resize_left_ess_size, diff --git a/isaac_ros_foundationpose/package.xml b/isaac_ros_foundationpose/package.xml index e813fea..2bb192a 100644 --- a/isaac_ros_foundationpose/package.xml +++ b/isaac_ros_foundationpose/package.xml @@ -21,7 +21,7 @@ isaac_ros_foundationpose - 3.0.1 + 3.1.0 FoundationPose 6D pose estimation Isaac ROS Maintainers diff --git a/isaac_ros_foundationpose/rviz/foundationpose_zed.rviz b/isaac_ros_foundationpose/rviz/foundationpose_zed.rviz new file mode 100644 index 0000000..1d7097b --- /dev/null +++ b/isaac_ros_foundationpose/rviz/foundationpose_zed.rviz @@ -0,0 +1,201 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5001519322395325 + Tree Height: 624 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rgb/image_rect_color_viz + Value: true + Visibility: + Detection3DArray: true + Grid: true + Image: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Class: vision_msgs_rviz_plugins/Detection3DArray + ConfigPath: "" + Enabled: true + Line Width: 0.05000000074505806 + Name: Detection3DArray + Namespaces: + bounding_box: true + Only Edge: false + Show Score: false + Topic: + Depth: 1 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /output + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rt_detr_segmentation + Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /segmentation + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: zed2_camera_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.9897971153259277 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.7003983855247498 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 2272 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000006ea000007f1fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000690000035e0000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000003d3000004870000004500fffffffb0000000a0049006d006100670065000000068f000000d10000004500fffffffb0000000a0049006d006100670065000000074f0000010b0000004500ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f10000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7400000051fc0100000002fb0000000800540069006d0065010000000000000e740000046000fffffffb0000000800540069006d006501000000000000045000000000000000000000077e000007f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3700 + X: 140 + Y: 54 diff --git a/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml index e75f681..23c1e4a 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_centerpose - 3.0.1 + 3.1.0 GXF extension containing CenterPose pose estimation related components. Isaac ROS Maintainers diff --git a/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml index 566fbd7..32753df 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_dope - 3.0.1 + 3.1.0 GXF extension containing CenterPose pose estimation related components. Isaac ROS Maintainers diff --git a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml index d8cb10c..41e940c 100644 --- a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml +++ b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_foundationpose - 3.0.1 + 3.1.0 GXF extension containing Foundation Pose estimation related components. Isaac ROS Maintainers diff --git a/resources/rosbags/foundationpose_tracking.bag/foundationpose_tracking.bag_0.db3 b/resources/rosbags/foundationpose_tracking.bag/foundationpose_tracking.bag_0.db3 deleted file mode 100644 index 32bcdd2..0000000 --- a/resources/rosbags/foundationpose_tracking.bag/foundationpose_tracking.bag_0.db3 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:32a94df3ad3ef216e71db911bf9fed7cb0e654bad4353d49f117fb5e8349ed93 -size 1586929664 diff --git a/resources/rosbags/foundationpose_tracking.bag/metadata.yaml b/resources/rosbags/foundationpose_tracking.bag/metadata.yaml deleted file mode 100644 index 066f171..0000000 --- a/resources/rosbags/foundationpose_tracking.bag/metadata.yaml +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6487f34d0a7b49e016d55ffc53772ec12b91813c8e83bfb84c55db2afa5efb35 -size 1075