Merge pull request #39 from NVIDIA-ISAAC-ROS/release-3.0

Isaac ROS 3.0.1

README.md

@@ -6,15 +6,15 @@ Deep learned, NVIDIA-accelerated 3D object pose estimation
 
 ## Overview
 
-[Isaac ROS Pose Estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation)
-contains ROS 2 packages to predict the pose of an object.
-`isaac_ros_foundationpose` estimates the object’s pose using the 3D
-bounding cuboid dimensions of unknown object from an input image.
-`isaac_ros_dope` estimates the object’s pose using the 3D
-bounding cuboid dimensions of a known object in an input image.
-`isaac_ros_centerpose` estimates the object’s pose using the 3D
-bounding cuboid dimensions of unknown object instances in a known
-category of objects from an input image.
+[Isaac ROS Pose Estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation)  contains
+three ROS 2 packages to predict the pose of an object. Please refer the following table to see the differences of them:
+
+| Node                       | Novel Object wo/ Retraining   | TAO Support   | Speed   | Quality   | Maturity    |
+|----------------------------|-------------------------------|---------------|---------|-----------|-------------|
+| `isaac_ros_foundationpose` | ✓                             | N/A           | Fast    | Best      | New         |
+| `isaac_ros_dope`           | x                             | x             | Fastest | Good      | Time-tested |
+| `isaac_ros_centerpose`     | x                             | ✓             | Faster  | Better    | Established |
+
 Those packages use GPU acceleration for DNN inference to
 estimate the pose of an object. The output prediction can be used by
 perception functions when fusing with the corresponding depth to provide

isaac_ros_centerpose/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_centerpose</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>CenterPose: Pose Estimation using Deep Learning</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

isaac_ros_dope/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_dope</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Deep learning based pose estimation</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

isaac_ros_foundationpose/launch/isaac_ros_foundationpose_isaac_sim.launch.py

@@ -134,8 +134,8 @@ def generate_launch_description():
             'disable_padding': True
         }],
         remappings=[
-            ('image', 'front_stereo_camera/left_rgb/image_raw'),
-            ('camera_info', 'front_stereo_camera/left_rgb/camerainfo')
+            ('image', 'front_stereo_camera/left/image_rect_color'),
+            ('camera_info', 'front_stereo_camera/left/camera_info')
         ]
     )
     pad_node = ComposableNode(
@@ -277,10 +277,10 @@ def generate_launch_description():
             'disable_padding': False
         }],
         remappings=[
-            ('image', 'front_stereo_camera/left_rgb/image_raw'),
-            ('camera_info', 'front_stereo_camera/left_rgb/camerainfo'),
-            ('resize/image', 'front_stereo_camera/left_rgb/image_raw_resized'),
-            ('resize/camera_info', 'front_stereo_camera/left_rgb/camera_info')
+            ('image', 'front_stereo_camera/left/image_rect_color'),
+            ('camera_info', 'front_stereo_camera/left/camera_info'),
+            ('resize/image', 'front_stereo_camera/left/image_rect_color_resized'),
+            ('resize/camera_info', 'front_stereo_camera/left/camera_info_resized')
         ]
     )
     resize_right_ess_size = ComposableNode(
@@ -297,10 +297,10 @@ def generate_launch_description():
             'disable_padding': False
         }],
         remappings=[
-            ('image', 'front_stereo_camera/right_rgb/image_raw'),
-            ('camera_info', 'front_stereo_camera/right_rgb/camerainfo'),
-            ('resize/image', 'front_stereo_camera/right_rgb/image_raw_resized'),
-            ('resize/camera_info', 'front_stereo_camera/right_rgb/camera_info')
+            ('image', 'front_stereo_camera/right/image_rect_color'),
+            ('camera_info', 'front_stereo_camera/right/camera_info'),
+            ('resize/image', 'front_stereo_camera/right/image_rect_color_resized'),
+            ('resize/camera_info', 'front_stereo_camera/right/camera_info_resized')
         ]
     )
 
@@ -313,10 +313,10 @@ def generate_launch_description():
                      'threshold': ess_depth_threshold
                      }],
         remappings=[
-            ('left/image_rect', 'front_stereo_camera/left_rgb/image_raw_resized'),
-            ('right/image_rect', 'front_stereo_camera/right_rgb/image_raw_resized'),
-            ('left/camera_info', 'front_stereo_camera/left_rgb/camera_info'),
-            ('right/camera_info', 'front_stereo_camera/right_rgb/camera_info')
+            ('left/image_rect', 'front_stereo_camera/left/image_rect_color_resized'),
+            ('right/image_rect', 'front_stereo_camera/right/image_rect_color_resized'),
+            ('left/camera_info', 'front_stereo_camera/left/camera_info_resized'),
+            ('right/camera_info', 'front_stereo_camera/right/camera_info_resized')
         ]
     )
     disparity_to_depth_node = ComposableNode(
@@ -351,8 +351,8 @@ def generate_launch_description():
         }],
         remappings=[
             ('pose_estimation/depth_image', 'depth_image'),
-            ('pose_estimation/image', 'front_stereo_camera/left_rgb/image_raw_resized'),
-            ('pose_estimation/camera_info', 'front_stereo_camera/left_rgb/camera_info'),
+            ('pose_estimation/image', 'front_stereo_camera/left/image_rect_color_resized'),
+            ('pose_estimation/camera_info', 'front_stereo_camera/left/camera_info_resized'),
             ('pose_estimation/segmentation', 'segmentation'),
             ('pose_estimation/output', 'output')]
         )

isaac_ros_foundationpose/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_foundationpose</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>FoundationPose 6D pose estimation</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

isaac_ros_foundationpose/rviz/foundationpose_isaac_sim.rviz

@@ -1,14 +1,14 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 70
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /Status1
         - /Camera1
       Splitter Ratio: 0.5001519322395325
-    Tree Height: 70
+    Tree Height: 146
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -59,7 +59,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /front_stereo_camera/left_rgb/image_raw_resized
+        Value: /front_stereo_camera/left/image_rect_color
       Value: true
       Visibility:
         Detection3DArray: true
@@ -86,7 +86,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: front_stereo_camera:left_rgb
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -144,20 +144,20 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: -0.9897971153259277
+      Pitch: 0.24979707598686218
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.7003983855247498
+      Yaw: 3.2935781478881836
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1072
+  Height: 1099
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000038800000383fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000c7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000108000002b60000002800ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c000000051fc0100000002fb0000000800540069006d00650100000000000003c00000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000000320000038300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000003880000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000cd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000010e000002cb0000002800ffffff000000010000014d000007f1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000069000007f1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000051fc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003f20000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -166,6 +166,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 960
+  Width: 1920
   X: 0
-  Y: 27
+  Y: 240

isaac_ros_gxf_extensions/gxf_isaac_centerpose/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_centerpose</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>GXF extension containing CenterPose pose estimation related components.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

isaac_ros_gxf_extensions/gxf_isaac_dope/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_dope</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>GXF extension containing CenterPose pose estimation related components.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

isaac_ros_gxf_extensions/gxf_isaac_foundationpose/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_foundationpose</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>GXF extension containing Foundation Pose estimation related components.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>