From 40b9f0cd561e4b543d9938cdf56fcdab61894bd0 Mon Sep 17 00:00:00 2001
From: Hemal Shah <hemals@nvidia.com>
Date: Fri, 17 Nov 2023 02:46:20 +0000
Subject: [PATCH] Isaac ROS 2.1.0

---
 isaac_ros_apriltag/config/apriltag_node.yaml | 4 ++++
 isaac_ros_apriltag/package.xml               | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/isaac_ros_apriltag/config/apriltag_node.yaml b/isaac_ros_apriltag/config/apriltag_node.yaml
index 5e92a55..b8cfcf5 100644
--- a/isaac_ros_apriltag/config/apriltag_node.yaml
+++ b/isaac_ros_apriltag/config/apriltag_node.yaml
@@ -84,6 +84,10 @@ components:
   parameters:
     transmitter: april_tags_out
     min_size: 1
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: resource
 components:
diff --git a/isaac_ros_apriltag/package.xml b/isaac_ros_apriltag/package.xml
index dcb761e..90ceea1 100644
--- a/isaac_ros_apriltag/package.xml
+++ b/isaac_ros_apriltag/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_apriltag</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>CUDA-accelerated Apriltag detection and pose estimation.</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>