Isaac ROS 4.0 (#152)

Author: jaiveersinghNV

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "nvblox_ros/nvblox_core"]
 	path = nvblox_ros/nvblox_core
 	url = https://github.com/nvidia-isaac/nvblox.git
-	branch = v0.0.7
+	branch = public

README.md

@@ -2,14 +2,14 @@
 
 Nvblox ROS 2 integration for local 3D scene reconstruction and mapping.
 
-<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_sim_nvblox_humans.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_sim_nvblox_humans.gif/" width="600px"/></a></div>
+<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_sim_nvblox_humans.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_sim_nvblox_humans.gif/" width="600px"/></a></div>
 
 ## Overview
 
 Isaac ROS Nvblox contains ROS 2 packages for 3D reconstruction and cost
 maps for navigation. `isaac_ros_nvblox` processes depth and pose to
 reconstruct a 3D scene in real-time and outputs a 2D costmap for
-[Nav2](https://github.com/ros-planning/navigation2). The costmap is
+[Nav2](https://github.com/ros-navigation/navigation2). The costmap is
 used in planning during navigation as a vision-based solution to avoid
 obstacles.
 
@@ -18,15 +18,15 @@ The package uses GPU acceleration to compute a 3D reconstruction and 2D costmaps
 [nvblox](https://github.com/nvidia-isaac/nvblox), the underlying
 framework-independent C++ library.
 
-<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox_nodegraph.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox_nodegraph.png/" width="750px"/></a></div>
+<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox_nodegraph.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox_nodegraph.png/" width="750px"/></a></div>
 
 Above is a typical graph that uses `isaac_ros_nvblox`.
 Nvblox takes a depth image, a color image, and a pose as input, with
 which it computes a 3D scene reconstruction on the GPU. In this graph
 the pose is computed using `visual_slam`, or some other pose estimation
 node. The reconstruction
 is sliced into an output cost map which is provided through a cost map plugin
-into [Nav2](https://github.com/ros-planning/navigation2).
+into [Nav2](https://github.com/ros-navigation/navigation2).
 An optional colorized 3D reconstruction is delivered into `rviz`
 using the mesh visualization plugin. Nvblox streams mesh updates
 to RViz to update the reconstruction in real-time as it is built.
@@ -54,8 +54,10 @@ The following tables provides timings for various functions of
             <th class="head">Dataset</th>
             <th class="head">Voxel Size (m)</th>
             <th class="head">Component</th>
-            <th class="head">x86_64 w/ 3090 (Desktop)</th>
-            <th class="head">x86_64 w/ RTX A3000 (Laptop)</th>
+            <th class="head">x86_64 + 5090 (Desktop)</th>
+            <th class="head">x86_64 + 3090 (Desktop)</th>
+            <th class="head">x86_64 + A3000 (Laptop)</th>
+            <th class="head">AGX Thor</th>
             <th class="head">AGX Orin</th>
             <th class="head">Orin Nano</th>
         </tr>
@@ -64,74 +66,94 @@ The following tables provides timings for various functions of
         <tr class="row-even">
             <td rowspan="5">Replica</td>
             <td rowspan="5">0.05</td>
-            <td>TSDF</td>
+            <td>TSDF</td> <!-- tsdf/integrate -->
+            <td>0.1 ms</td>
             <td>0.5 ms</td>
             <td>0.3 ms</td>
+            <td>0.4 ms</td>
             <td>0.8 ms</td>
             <td>2.1 ms</td>
         </tr>
         <tr class="row-odd">
-            <td>Color</td>
+            <td>Color</td> <!-- color/integrate -->
+            <td>0.3 ms</td>
             <td>0.7 ms</td>
             <td>0.7 ms</td>
+            <td>0.8 ms</td>
             <td>1.1 ms</td>
             <td>3.6 ms</td>
         </tr>
         <tr class="row-even">
-            <td>Meshing</td>
+            <td>Meshing</td> <!-- mesh/integrate -->
+            <td>0.3 ms</td>
             <td>0.7 ms</td>
             <td>1.3 ms</td>
+            <td>1.4 ms</td>
             <td>2.3 ms</td>
             <td>13 ms</td>
         </tr>
         <tr class="row-odd">
-            <td>ESDF</td>
+            <td>ESDF</td> <!-- esdf/integrate -->
+            <td>0.3 ms</td>
             <td>0.8 ms</td>
             <td>1.2 ms</td>
+            <td>1.0 ms</td>
             <td>1.7 ms</td>
             <td>6.2 ms</td>
         </tr>
         <tr class="row-even">
-            <td>Dynamics</td>
+            <td>Dynamics</td> <!-- sum(multi_mapper/integrate_depth/dynamic_block) -->
+            <td>0.7 ms</td>
             <td>1.7 ms</td>
             <td>1.4 ms</td>
+            <td>1.4 ms</td>
             <td>2.0 ms</td>
             <td>N/A(\*)</td>
         </tr>
         <tr class="row-even">
             <td rowspan="5">Redwood</td>
             <td rowspan="5">0.05</td>
             <td>TSDF</td>
+            <td>0.09 ms</td>
+            <td>0.2 ms</td>
             <td>0.2 ms</td>
             <td>0.2 ms</td>
             <td>0.5 ms</td>
             <td>1.2 ms</td>
         </tr>
         <tr class="row-odd">
             <td>Color</td>
+            <td>0.3 ms</td>
             <td>0.5 ms</td>
             <td>0.5 ms</td>
+            <td>0.6 ms</td>
             <td>0.8 ms</td>
             <td>2.6 ms</td>
         </tr>
         <tr class="row-even">
             <td>Meshing</td>
+            <td>0.2 ms</td>
             <td>0.3 ms</td>
             <td>0.5 ms</td>
+            <td>0.8 ms</td>
             <td>0.9 ms</td>
             <td>4.2 ms</td>
         </tr>
         <tr class="row-odd">
             <td>ESDF</td>
+            <td>0.3 ms</td>
             <td>0.8 ms</td>
             <td>1.0 ms</td>
+            <td>1.0 ms</td>
             <td>1.5 ms</td>
             <td>5.1 ms</td>
         </tr>
         <tr class="row-even">
             <td>Dynamics</td>
+            <td>0.4 ms</td>
             <td>1.0 ms</td>
             <td>0.7 ms</td>
+            <td>0.8 ms</td>
             <td>1.2 ms</td>
             <td>N/A(\*)</td>
         </tr>
@@ -166,10 +188,8 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
     * [ROS Communication Issues](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_ros_communication.html)
 * [`nvblox_examples_bringup`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_examples_bringup/index.html)
 * [`nvblox_image_padding`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_image_padding/index.html)
-* [`nvblox_isaac_sim`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_isaac_sim/index.html)
 * [`nvblox_msgs`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_msgs/index.html)
 * [`nvblox_nav2`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_nav2/index.html)
-* [`nvblox_performance_measurement`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_performance_measurement/index.html)
 * [`nvblox_ros`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_ros/index.html)
 * [`nvblox_ros_common`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_ros_common/index.html)
 * [`nvblox_rviz_plugin`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/nvblox_rviz_plugin/index.html)
@@ -178,4 +198,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-12-10: Optimized performance for always-on dynamic obstacle detection and 1 cm voxels
+Update 2025-10-24: Support for ROS 2 Jazzy

SECURITY.md

@@ -0,0 +1,24 @@
+## Security
+
+NVIDIA is dedicated to the security and trust of our software products and services, including all source code repositories managed through our organization.
+
+If you need to report a security issue, please use the appropriate contact points outlined below. **Please do not report security vulnerabilities through GitHub.**
+
+## Reporting Potential Security Vulnerability in an NVIDIA Product
+
+To report a potential security vulnerability in any NVIDIA product:
+- Web: [Security Vulnerability Submission Form](https://www.nvidia.com/object/submit-security-vulnerability.html)
+- E-Mail: psirt@nvidia.com
+    - We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
+    - Please include the following information:
+      - Product/Driver name and version/branch that contains the vulnerability
+      - Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
+      - Instructions to reproduce the vulnerability
+      - Proof-of-concept or exploit code
+      - Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
+
+While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/) policies page for more information.
+
+## NVIDIA Product Security
+
+For all security-related concerns, please visit NVIDIA's Product Security portal at https://www.nvidia.com/en-us/security

isaac_ros_nvblox/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_nvblox</name>
-  <version>3.2.5</version>
+  <version>4.0.0</version>
   <description>Nvblox ROS 2 metapackage</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

nvblox_examples/nvblox_examples_bringup/config/sensors/realsense_emitter_flashing.yaml

@@ -21,12 +21,15 @@ serial_no: ''
 usb_port_id: ''
 
 rgb_camera:
-  profile: '640x480x15'
+  color_profile: '640x480x15'
+  profile: '640x480x15' # For backwards compatibility
 color_info_qos: "SENSOR_DATA"
 color_qos: "SENSOR_DATA"
 
 depth_module:
-  profile: '640x480x60'
+  depth_profile: '640x480x60'
+  infra_profile: '640x480x60'
+  profile: '640x480x60' # For backwards compatibility
   emitter_enabled: 1
   emitter_on_off: true
 depth_qos: "SENSOR_DATA"
@@ -48,7 +51,8 @@ pointcloud_texture_index: 0
 pointcloud_texture_stream: RS2_STREAM_ANY
 
 enable_sync: false
-align_depth: false
+align_depth:
+  enable: false
 
 gyro_fps: 200
 accel_fps: 200

nvblox_examples/nvblox_examples_bringup/config/sensors/realsense_emitter_on.yaml

@@ -21,12 +21,15 @@ serial_no: ''
 usb_port_id: ''
 
 rgb_camera:
-  profile: '640x480x15'
+  color_profile: '640x480x15'
+  profile: '640x480x15' # For backwards compatibility
 color_info_qos: "SENSOR_DATA"
 color_qos: "SENSOR_DATA"
 
 depth_module:
-  profile: '640x480x30'
+  depth_profile: '640x480x30'
+  infra_profile: '640x480x30'
+  profile: '640x480x30' # For backwards compatibility
   emitter_enabled: 1
   emitter_on_off: false
 depth_qos: "SENSOR_DATA"
@@ -48,7 +51,8 @@ pointcloud_texture_index: 0
 pointcloud_texture_stream: RS2_STREAM_ANY
 
 enable_sync: false
-align_depth: false
+align_depth:
+  enable: false
 
 gyro_fps: 200
 accel_fps: 200

nvblox_examples/nvblox_examples_bringup/launch/sensors/realsense.launch.py

@@ -17,33 +17,42 @@
 
 from typing import List, Optional
 
-from isaac_ros_launch_utils.all_types import *
+from isaac_ros_launch_utils.all_types import (
+    Action, ComposableNode, LaunchDescription, TimerAction, IfCondition)
 import isaac_ros_launch_utils as lu
-
 from nvblox_ros_python_utils.nvblox_constants import NVBLOX_CONTAINER_NAME
 
-
-EMITTER_FLASHING_CONFIG_FILE_PATH = lu.get_path('nvblox_examples_bringup', 'config/sensors/realsense_emitter_flashing.yaml')
-EMITTER_ON_CONFIG_FILE_PATH = lu.get_path('nvblox_examples_bringup', 'config/sensors/realsense_emitter_on.yaml')
+EMITTER_FLASHING_CONFIG_FILE_PATH = lu.get_path(
+    'nvblox_examples_bringup',
+    'config/sensors/realsense_emitter_flashing.yaml')
+EMITTER_ON_CONFIG_FILE_PATH = lu.get_path(
+    'nvblox_examples_bringup',
+    'config/sensors/realsense_emitter_on.yaml')
 
 # By default our behaviour is:
 # - Run the splitter on camera0,
 # - Don't run the splitter on the remaining cameras.
 # NOTE(alexmillane, 16.08.2024): At the moment this is the *only* behaviour we support.
+
+
 def get_default_run_splitter_list(num_cameras: int) -> List[bool]:
     run_splitter_list = [False] * num_cameras
     run_splitter_list[0] = True
     return run_splitter_list
 
 
-def get_camera_node(camera_name: str, config_file_path: str, serial_number: Optional[int] = None) -> ComposableNode:
+def get_camera_node(
+        camera_name: str,
+        config_file_path: str,
+        serial_number: Optional[int] = None) -> ComposableNode:
     parameters = []
     parameters.append(config_file_path)
     parameters.append({'camera_name': camera_name})
     if serial_number:
         parameters.append({'serial_no': str(serial_number)})
     realsense_node = ComposableNode(
-        namespace=camera_name,
+        name=camera_name,
+        namespace='',
         package='realsense2_camera',
         plugin='realsense2_camera::RealSenseNodeFactory',
         parameters=parameters)
@@ -101,19 +110,20 @@ def add_cameras(args: lu.ArgumentContainer) -> List[Action]:
         else:
             config_file_path = EMITTER_ON_CONFIG_FILE_PATH
         # Realsense
-        log_message = lu.log_info(f'Starting realsense with name: {camera_name}, running splitter: {run_splitter}')
+        log_message = lu.log_info(
+            f'Starting realsense with name: {camera_name}, running splitter: {run_splitter}')
         nodes.append(
             get_camera_node(
                 camera_name=camera_name,
                 config_file_path=config_file_path,
                 serial_number=camera_serial_number,
-        ))
+            ))
         # Splitter
         if run_splitter:
             nodes.append(
                 get_splitter_node(
                     camera_name=camera_name,
-            ))
+                ))
         # Note(xinjieyao: 2024/08/24): Multi-rs launch use RealSenseNodeFactory could be unstable
         # Camera node may fail to launch without any ERROR or app crashes
         # Adding delay for cameras after the first camera bringup (including splitter) as temp fix

nvblox_examples/nvblox_examples_bringup/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>nvblox_examples_bringup</name>
-  <version>3.2.13</version>
+  <version>4.0.0</version>
   <description>Launchfiles for nvblox examples</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>

nvblox_examples/nvblox_examples_bringup/test/CMakeLists.txt

@@ -18,6 +18,14 @@
 # Get the path to a dummy bag for use in the tests.
 get_dummy_bag_path(DUMMY_BAG_PATH)
 
+# NOTE(alexmillane): In these dry-run tests, the graphs sometimes terminates with a non-zero
+# exit code, which causes the test to fail (even though the graph *runs* correctly). This issue
+# is under investigation here: https://nvbugspro.nvidia.com/bug/4751762.
+# We're therefore disabling the exit-code checks for now.
+# Note that the test is still functional because it will still fail when the graph fails
+# to run for the timeout time.
+# TODO(alexmillane): Re-enable exit-code checks when we've sorted out the above bug.
+
 add_graph_startup_test(realsense_dry_run
     launch/realsense_example.launch.py
     DONT_CHECK_EXIT_CODE

nvblox_examples/nvblox_image_padding/include/nvblox_image_padding/image_padding_cropping_node.hpp

@@ -21,7 +21,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#include <cv_bridge/cv_bridge.hpp>
 
 namespace nvblox
 {