Isaac ROS v0.9.0 (EA1)

.gitattributes

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+# 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

.gitignore

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+# Ignore all pycache files
+**/__pycache__/**

README.md

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-# JetROS Test
+# Isaac ROS Common
 
+Isaac ROS common utilities for use in conjunction with the Isaac ROS suite of packages.
+Note: Please refer to `scripts/README.md` for script used to setup dev environment

docker/Dockerfile.aarch64.base

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+# 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.
+
+# Dockder file to aarch64 based Jetson device
+ARG BASE_IMAGE=dustynv/ros:foxy-ros-base-l4t-r32.6.1
+FROM ${BASE_IMAGE}
+
+# Disable terminal interaction for apt
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Fundamentals
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    curl \
+    git \
+    sudo \
+    unzip \
+    vim \
+    wget \
+    software-properties-common \
+&& rm -rf /var/lib/apt/lists/*
+
+# Install OpenCV dependencies
+RUN apt-get update && apt-get install -y \
+    libavformat-dev \
+    libjpeg-dev \
+    libopenjp2-7-dev \
+    libpng-dev \
+    libpq-dev \
+    libswscale-dev \
+    libtbb2 \
+    libtbb-dev \
+    libtiff-dev \
+    pkg-config \
+    yasm \
+&& rm -rf /var/lib/apt/lists/*
+
+# Install additional packages needed for ROS2 dependencies
+RUN apt-get update && apt-get install -y \
+    python3-distutils \
+    libboost-all-dev \
+    libboost-dev \
+&& rm -rf /var/lib/apt/lists/*
+
+# sklearn dependencies
+RUN apt-get update && apt-get install -y \
+    gfortran \
+    libatlas-base-dev \
+    python3-scipy \
+&& rm -rf /var/lib/apt/lists/*
+
+# sklearn Python dependencies
+RUN python3 -m pip install -U \
+    Cython \
+    wheel
+
+# Install sklearn
+RUN python3 -m pip install -U \
+    scikit-learn
+
+# Install Git-LFS
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
+        apt-get update && apt-get install -y \
+        git-lfs \
+&& rm -rf /var/lib/apt/lists/*
+
+# Install Realsense
+RUN apt update \
+    && apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
+    && add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u \
+    && apt-get install -y librealsense2-utils librealsense2-dev
+
+
+# Update environment
+ENV LD_LIBRARY_PATH="/opt/nvidia/vpi1/lib64:${LD_LIBRARY_PATH}"
+ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra:${LD_LIBRARY_PATH}"
+ENV LD_LIBRARY_PATH="/usr/local/cuda-10.2/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}"
+ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra-egl:${LD_LIBRARY_PATH}"
+
+RUN echo "source /opt/ros/foxy/install/setup.bash" > /opt/ros/foxy/setup.bash
+
+# Restore using the default Foxy DDS middleware: FastRTPS 
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+### -----------------------------
+
+# Setup non-root admin user
+ARG USERNAME=admin
+ARG USER_UID=1000
+ARG USER_GID=1001
+
+# Create the 'admin' user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && adduser admin video && adduser admin sudo
+
+COPY scripts/workspace-entrypoint.sh /home/$USERNAME/workspace-entrypoint.sh
+RUN chmod +x /home/$USERNAME/workspace-entrypoint.sh
+

docker/Dockerfile.x86_64.base

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+# 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.
+#
+# Docker file to build on x86_64
+ARG BASE_IMAGE=nvidia/cuda:11.2.0-devel-ubuntu20.04
+FROM ${BASE_IMAGE}
+
+# disable terminal interaction for apt
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Fundamentals
+RUN apt-get update && apt-get install -y \
+        bash-completion \
+        build-essential \
+        clang-format \
+        cmake \
+        curl \
+        git \
+        gnupg2 \
+        locales \
+        lsb-release \
+        rsync \
+        software-properties-common \
+        wget \
+        vim \
+        mlocate \
+&& rm -rf /var/lib/apt/lists/*
+
+# Python basics
+RUN apt-get update && apt-get install -y \
+        python3-flake8 \
+        python3-opencv \
+        python3-pip \
+        python3-pytest-cov \
+        python3-setuptools \
+&& rm -rf /var/lib/apt/lists/*
+
+# Video utilities
+RUN apt-get update && apt-get install -y \
+        v4l-utils \
+        mesa-utils \
+        libcanberra-gtk-module \
+        libcanberra-gtk3-module \
+&& rm -rf /var/lib/apt/lists/*
+
+# Core dev libraries
+RUN apt-get update && apt-get install -y \
+        libasio-dev \
+        libbullet-dev \
+        libtinyxml2-dev \
+        libcunit1-dev \
+&& rm -rf /var/lib/apt/lists/*
+
+# Python3 (PIP)
+RUN python3 -m pip install -U \
+        argcomplete \
+        autopep8 \
+        flake8 \
+        flake8-blind-except \
+        flake8-builtins \
+        flake8-class-newline \
+        flake8-comprehensions \
+        flake8-deprecated \
+        flake8-docstrings \
+        flake8-import-order \
+        flake8-quotes \
+        pytest-repeat \
+        pytest-rerunfailures \
+        pytest \
+        pydocstyle \
+        scikit-learn
+
+# Install Git-LFS
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
+        apt-get update && apt-get install -y \
+        git-lfs \
+&& rm -rf /var/lib/apt/lists/*
+
+# Install VPI packages
+ARG HAS_GPU
+COPY vpi/*.deb /opt/install/
+RUN if [ "$HAS_GPU" = "true" ]; then \
+        dpkg -i /opt/install/vpi-lib-1.1.11-cuda11-x86_64-linux.deb; \
+        dpkg -i /opt/install/vpi-dev-1.1.11-cuda11-x86_64-linux.deb; \
+        updatedb; \
+    fi
+
+# Setup ROS2 Foxy
+RUN locale-gen en_US en_US.UTF-8
+RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG=en_US.UTF-8
+
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+
+RUN apt-get update && apt-get install -y \
+        python3-colcon-common-extensions \
+        python3-rosdep \
+        python3-vcstool \
+        ros-foxy-camera-calibration-parsers \
+        ros-foxy-camera-info-manager \
+        ros-foxy-desktop \
+        ros-foxy-launch-testing-ament-cmake \
+        ros-foxy-rqt* \
+        ros-foxy-turtlesim \
+        ros-foxy-v4l2-camera \
+        ros-foxy-realsense2-camera \
+&& rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init
+
+# Install Realsense
+RUN apt update \
+    && apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
+    || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
+    && add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u \
+    && apt-get install -y librealsense2-utils librealsense2-dev
+
+# Restore using the default Foxy DDS middleware: FastRTPS 
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# Setup non-root admin user
+ARG USERNAME=admin
+ARG USER_UID=1000
+ARG USER_GID=1001
+
+# Create the 'admin' user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && adduser admin video && adduser admin sudo
+
+COPY scripts/workspace-entrypoint.sh /home/$USERNAME/workspace-entrypoint.sh
+RUN chmod +x /home/$USERNAME/workspace-entrypoint.sh
+

docker/scripts/workspace-entrypoint.sh

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+#!/bin/bash
+#
+# 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.
+
+# Build ROS dependency
+echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
+source /opt/ros/foxy/setup.bash
+
+sudo apt-get update
+rosdep update
+
+$@

giistr-cla.md

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+## 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.