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Merge pull request #129 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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‎README.md‎

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Original file line numberDiff line numberDiff line change
@@ -54,67 +54,92 @@ The following tables provides timings for various functions of
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<th class="head">Dataset</th>
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<th class="head">Voxel Size (m)</th>
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<th class="head">Component</th>
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<th class="head">x86_64 w/ 4090 (Desktop)</th>
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<th class="head">x86_64 w/ RTX3500 Ada (Laptop)</th>
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<th class="head">x86_64 w/ 3090 (Desktop)</th>
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<th class="head">x86_64 w/ RTX A3000 (Laptop)</th>
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<th class="head">AGX Orin</th>
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<th class="head">Orin Nano</th>
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</tr>
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</thead>
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<tbody>
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<tr class="row-even">
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<td rowspan="4">Replica</td>
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<td rowspan="4">0.05</td>
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<td rowspan="5">Replica</td>
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<td rowspan="5">0.05</td>
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<td>TSDF</td>
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<td>0.2 ms</td>
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<td>0.2 ms</td>
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<td>0.5 ms</td>
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<td>0.3 ms</td>
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<td>0.8 ms</td>
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<td>2.1 ms</td>
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</tr>
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<tr class="row-odd">
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<td>Color</td>
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<td>0.4 ms</td>
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<td>0.5 ms</td>
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<td>1.2 ms</td>
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<td>0.7 ms</td>
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<td>0.7 ms</td>
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<td>1.1 ms</td>
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<td>3.6 ms</td>
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</tr>
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<tr class="row-even">
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<td>Meshing</td>
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<td>0.8 ms</td>
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<td>1.1 ms</td>
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<td>2.5 ms</td>
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<td>0.7 ms</td>
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<td>1.3 ms</td>
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<td>2.3 ms</td>
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<td>13 ms</td>
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</tr>
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<tr class="row-odd">
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<td>ESDF</td>
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<td>0.7 ms</td>
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<td>0.8 ms</td>
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<td>1.2 ms</td>
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<td>1.7 ms</td>
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<td>6.2 ms</td>
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</tr>
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<tr class="row-even">
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<td rowspan="4">Redwood</td>
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<td rowspan="4">0.05</td>
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<td>Dynamics</td>
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<td>1.7 ms</td>
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<td>1.4 ms</td>
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<td>2.0 ms</td>
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<td>N/A(\*)</td>
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</tr>
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<tr class="row-even">
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<td rowspan="5">Redwood</td>
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<td rowspan="5">0.05</td>
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<td>TSDF</td>
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<td>0.2 ms</td>
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<td>0.2 ms</td>
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<td>0.6 ms</td>
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<td>0.5 ms</td>
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<td>1.2 ms</td>
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</tr>
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<tr class="row-odd">
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<td>Color</td>
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<td>0.4 ms</td>
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<td>0.5 ms</td>
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<td>1.1 ms</td>
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<td>0.5 ms</td>
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<td>0.8 ms</td>
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<td>2.6 ms</td>
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</tr>
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<tr class="row-even">
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<td>Meshing</td>
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<td>0.4 ms</td>
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<td>0.3 ms</td>
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<td>0.5 ms</td>
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<td>1.1 ms</td>
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<td>0.9 ms</td>
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<td>4.2 ms</td>
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</tr>
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<tr class="row-odd">
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<td>ESDF</td>
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<td>0.8 ms</td>
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<td>1.1 ms</td>
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<td>1.7 ms</td>
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<td>1.0 ms</td>
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<td>1.5 ms</td>
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<td>5.1 ms</td>
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</tr>
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</tbody>
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<tr class="row-even">
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<td>Dynamics</td>
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<td>1.0 ms</td>
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<td>0.7 ms</td>
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<td>1.2 ms</td>
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<td>N/A(\*)</td>
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</tr>
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</tbody>
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</table>
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(\*): Dynamics not supported on Jetson Nano.
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---
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## Documentation
@@ -153,4 +178,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
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## Latest
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Update 2024-09-26: Update for ZED compatibility
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Update 2024-12-10: Optimized performance for always-on dynamic obstacle detection and 1 cm voxels

‎isaac_ros_nvblox/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(isaac_ros_nvblox)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )
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find_package(ament_cmake REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package()

‎isaac_ros_nvblox/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>isaac_ros_nvblox</name>
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<version>3.1.0</version>
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<version>3.2.0</version>
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<description>Nvblox ROS 2 metapackage</description>
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<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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<author>Alexander Millane</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>isaac_ros_common</build_depend>
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<depend>nvblox_ros</depend>
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<depend>nvblox_msgs</depend>
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<depend>nvblox_examples_bringup</depend>
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<depend>nvblox_msgs</depend>
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<depend>nvblox_nav2</depend>
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<depend>nvblox_ros_common</depend>
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<depend>nvblox_ros_python_utils</depend>
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<depend>nvblox_ros</depend>
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<depend>nvblox_rviz_plugin</depend>
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<depend>ament_lint_auto</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>

‎nvblox_examples/nvblox_examples_bringup/CMakeLists.txt‎

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@@ -19,8 +19,20 @@ cmake_minimum_required(VERSION 3.5)
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project(nvblox_examples_bringup)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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install(DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(isaac_ros_test_cmake)
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find_package(ament_cmake_copyright REQUIRED)
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ament_copyright()
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find_package(ament_cmake_lint_cmake REQUIRED)
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ament_lint_cmake()
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add_subdirectory(test)
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endif()
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ament_package()

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