diff --git a/gxf_isaac_fiducials/package.xml b/gxf_isaac_fiducials/package.xml index 7401381..80e1a4e 100644 --- a/gxf_isaac_fiducials/package.xml +++ b/gxf_isaac_fiducials/package.xml @@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0 gxf_isaac_fiducials - 3.0.0 + 3.0.1 GXF extension containing components for working with fiducials. Isaac ROS Maintainers diff --git a/isaac_ros_apriltag/launch/isaac_ros_apriltag_isaac_sim_pipeline.launch.py b/isaac_ros_apriltag/launch/isaac_ros_apriltag_isaac_sim_pipeline.launch.py index 4993155..c8f1be2 100644 --- a/isaac_ros_apriltag/launch/isaac_ros_apriltag_isaac_sim_pipeline.launch.py +++ b/isaac_ros_apriltag/launch/isaac_ros_apriltag_isaac_sim_pipeline.launch.py @@ -25,8 +25,8 @@ def generate_launch_description(): package='isaac_ros_apriltag', plugin='nvidia::isaac_ros::apriltag::AprilTagNode', name='apriltag', - remappings=[('image', 'front_stereo_camera/left_rgb/image_raw'), - ('camera_info', 'front_stereo_camera/left_rgb/camerainfo')], + remappings=[('image', 'front_stereo_camera/left/image_rect_color'), + ('camera_info', 'front_stereo_camera/left/camera_info')], parameters=[{'size': 0.32, 'max_tags': 64, 'tile_size': 4}] diff --git a/isaac_ros_apriltag/package.xml b/isaac_ros_apriltag/package.xml index 2f86ce2..d92bd44 100644 --- a/isaac_ros_apriltag/package.xml +++ b/isaac_ros_apriltag/package.xml @@ -21,7 +21,7 @@ isaac_ros_apriltag - 3.0.0 + 3.0.1 CUDA-accelerated Apriltag detection and pose estimation. Isaac ROS Maintainers diff --git a/isaac_ros_apriltag/rviz/default.rviz b/isaac_ros_apriltag/rviz/default.rviz index f5f9d64..ae86461 100644 --- a/isaac_ros_apriltag/rviz/default.rviz +++ b/isaac_ros_apriltag/rviz/default.rviz @@ -8,8 +8,9 @@ Panels: - /Status1 - /TF1/Frames1 - /TF1/Tree1 + - /Left Image1 Splitter Ratio: 0.6705882549285889 - Tree Height: 394 + Tree Height: 411 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -54,41 +55,83 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - back_2d_lidar: + back_fisheye_camera: + Value: false + back_fisheye_camera_optical: + Value: false + back_stereo_camera: + Value: false + back_stereo_camera_imu: + Value: false + back_stereo_camera_left: + Value: false + back_stereo_camera_left_optical: + Value: false + back_stereo_camera_right: + Value: false + back_stereo_camera_right_optical: Value: false base_link: Value: true + chassis_imu: + Value: false chassis_link: Value: false front_2d_lidar: Value: false front_3d_lidar: Value: false - front_stereo_camera:imu: + front_fisheye_camera: + Value: false + front_fisheye_camera_optical: + Value: false + front_stereo_camera: + Value: false + front_stereo_camera_imu: Value: false - front_stereo_camera:left_rgb: + front_stereo_camera_left: + Value: false + front_stereo_camera_left_optical: Value: true - front_stereo_camera:right_rgb: + front_stereo_camera_right: + Value: false + front_stereo_camera_right_optical: Value: true - left_stereo_camera:imu: + left_fisheye_camera: + Value: false + left_fisheye_camera_optical: + Value: false + left_stereo_camera: + Value: false + left_stereo_camera_imu: + Value: false + left_stereo_camera_left: Value: false - left_stereo_camera:left_rgb: + left_stereo_camera_left_optical: Value: false - left_stereo_camera:right_rgb: + left_stereo_camera_right: + Value: false + left_stereo_camera_right_optical: Value: false odom: - Value: true - rear_stereo_camera:imu: Value: false - rear_stereo_camera:left_rgb: + rear_2d_lidar: + Value: false + right_fisheye_camera: + Value: false + right_fisheye_camera_optical: + Value: false + right_stereo_camera: Value: false - rear_stereo_camera:right_rgb: + right_stereo_camera_imu: Value: false - right_stereo_camera:imu: + right_stereo_camera_left: Value: false - right_stereo_camera:left_rgb: + right_stereo_camera_left_optical: Value: false - right_stereo_camera:right_rgb: + right_stereo_camera_right: + Value: false + right_stereo_camera_right_optical: Value: false tag36h11:0: Value: true @@ -102,7 +145,23 @@ Visualization Manager: Tree: odom: base_link: - back_2d_lidar: + back_fisheye_camera: + {} + back_fisheye_camera_optical: + {} + back_stereo_camera: + {} + back_stereo_camera_imu: + {} + back_stereo_camera_left: + {} + back_stereo_camera_left_optical: + {} + back_stereo_camera_right: + {} + back_stereo_camera_right_optical: + {} + chassis_imu: {} chassis_link: {} @@ -110,32 +169,58 @@ Visualization Manager: {} front_3d_lidar: {} - front_stereo_camera:imu: + front_fisheye_camera: + {} + front_fisheye_camera_optical: + {} + front_stereo_camera: {} - front_stereo_camera:left_rgb: + front_stereo_camera_imu: + {} + front_stereo_camera_left: + {} + front_stereo_camera_left_optical: tag36h11:0: {} tag36h11:2: {} - front_stereo_camera:right_rgb: + front_stereo_camera_right: + {} + front_stereo_camera_right_optical: + {} + left_fisheye_camera: + {} + left_fisheye_camera_optical: + {} + left_stereo_camera: + {} + left_stereo_camera_imu: + {} + left_stereo_camera_left: + {} + left_stereo_camera_left_optical: + {} + left_stereo_camera_right: + {} + left_stereo_camera_right_optical: {} - left_stereo_camera:imu: + rear_2d_lidar: {} - left_stereo_camera:left_rgb: + right_fisheye_camera: {} - left_stereo_camera:right_rgb: + right_fisheye_camera_optical: {} - rear_stereo_camera:imu: + right_stereo_camera: {} - rear_stereo_camera:left_rgb: + right_stereo_camera_imu: {} - rear_stereo_camera:right_rgb: + right_stereo_camera_left: {} - right_stereo_camera:imu: + right_stereo_camera_left_optical: {} - right_stereo_camera:left_rgb: + right_stereo_camera_right: {} - right_stereo_camera:right_rgb: + right_stereo_camera_right_optical: {} Update Interval: 0 Value: true @@ -151,7 +236,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /front_stereo_camera/left_rgb/image_raw + Value: /front_stereo_camera/left/image_rect_color Value: true Enabled: true Global Options: @@ -214,20 +299,20 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.3203979432582855 + Pitch: 0.2353978157043457 Target Frame: Value: Orbit (rviz) - Yaw: 3.0753841400146484 + Yaw: 3.190394163131714 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1066 + Height: 1099 Hide Left Dock: false Hide Right Dock: false Left Image: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000028900000390fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001c5000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004c00650066007400200049006d0061006700650100000206000001c50000002800ffffff000000010000010f00000390fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000390000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003dc0000039000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000026c000003b1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001d6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004c00650066007400200049006d0061006700650100000217000001d50000002800ffffff000000010000010f000003b1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003b1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003f9000003b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -238,4 +323,4 @@ Window Geometry: collapsed: false Width: 1920 X: 0 - Y: 267 + Y: 240