Merge pull request #40 from NVIDIA-ISAAC-ROS/release-2.0.0

Isaac ROS 2.0.0
NVIDIA-ISAAC-ROS · Oct 19, 2023 · 0943be5 · 0943be5
2 parents d23f503 + 7de81d8
commit 0943be5
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Showing 28 changed files with 814 additions and 473 deletions.
diff --git a/.gitattributes b/.gitattributes
@@ -23,3 +23,4 @@
 **/resources/**/*.zstd filter=lfs diff=lfs merge=lfs -text
 **/resources/**/*.db3 filter=lfs diff=lfs merge=lfs -text
 **/resources/**/*.yaml filter=lfs diff=lfs merge=lfs -text
+**/resources/**/*.bag filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
diff --git a/docs/tutorial-isaac-sim.md b/docs/tutorial-isaac-sim.md
diff --git a/docs/tutorial-nitros-graph.md b/docs/tutorial-nitros-graph.md
diff --git a/docs/tutorial-usb-cam.md b/docs/tutorial-usb-cam.md
diff --git a/isaac_ros_apriltag/CMakeLists.txt b/isaac_ros_apriltag/CMakeLists.txt
@@ -15,7 +15,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.23.2)
+cmake_minimum_required(VERSION 3.22.1)
 project(isaac_ros_apriltag LANGUAGES C CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -58,6 +58,11 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  # The FindPythonInterp and FindPythonLibs modules are removed
+  if(POLICY CMP0148)
+    cmake_policy(SET CMP0148 OLD)
+  endif()
+
   find_package(launch_testing_ament_cmake REQUIRED)
   add_launch_test(test/isaac_ros_apriltag_pipeline_test.py)
 endif()

diff --git a/isaac_ros_apriltag/config/apriltag_node.yaml b/isaac_ros_apriltag/config/apriltag_node.yaml
@@ -61,14 +61,18 @@ components:
   parameters:
     capacity: 12
     policy: 0
-- name: allocator
-  type: nvidia::gxf::UnboundedAllocator
+- name: pool
+  type: nvidia::gxf::BlockMemoryPool
+  parameters:
+    storage_type: 0
+    block_size: 64
+    num_blocks: 2560
 - name: cuda_april_tag_detector
   type: nvidia::isaac::CudaAprilTagDetector
   parameters:
     camera_image: camera_image_info_in
     april_tags: april_tags_out
-    allocator: allocator
+    allocator: pool
     max_tags: 64
     tile_size: 4
     tag_dimensions: 0.22