Isaac ROS 0.20.0 (DP2)

NVIDIA-ISAAC-ROS · Oct 19, 2022 · 4c6309b · 4c6309b
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diff --git a/README.md b/README.md
@@ -1,7 +1,8 @@
 # Isaac ROS Common
 
 ## Overview
-The [Isaac ROS Common](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common) repository contains a number of scripts and Dockerfiles to help streamline development and testing with the Isaac ROS suite. 
+
+The [Isaac ROS Common](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common) repository contains a number of scripts and Dockerfiles to help streamline development and testing with the Isaac ROS suite.
 
 The Docker images included in this package provide pre-compiled binaries for ROS2 Humble on Ubuntu 20.04 Focal.  
 
@@ -10,29 +11,30 @@ Additionally, on x86_64 platforms, Docker containers allow us to quickly setup a
 For solutions to known issues, please visit the [Troubleshooting](./docs/troubleshooting.md) section.
 
 ### Docker Development Scripts
+
 `run_dev.sh` sets up a development environment with ROS2 installed and key versions of NVIDIA frameworks prepared for both x86_64 and Jetson. Running this script will prepare a Docker image with supported configuration for the
 host machine and deliver you into a bash prompt running inside the container. From here, you are ready to execute ROS2 build/run commands with your host workspace files mounted into the container, available to edit both on the host and in the container as appropriate. If you run this script again while it is running, it will attach a new shell to the same container.
 
-
 By default, the directory `/workspaces/isaac_ros-dev` in the container is mapped from `~/workspaces/isaac_ros-dev` on the host machine if it exists, **or** the current working directory from where the script was invoked otherwise. The host directory the container maps to can be explicitly set by running the script with the desired path as the first argument:
 
 ```bash
 scripts/run_dev.sh <path to workspace>
 ```
 
 ### Configuring run_dev.sh
+
 `run_dev.sh` prepares a base Docker image and mounts your target workspace into the running container. The Docker image is assembled by parsing a period-delimited image key into matching Dockerfiles and building each one in a sequence. For example, an image key of `first.second.third` could match {`Dockerfile.first`, `Dockerfile.second`, `Dockerfile.third`} where `run_dev.sh` will build the image for `Dockerfile.first`, then feed that image as the base image while building `Dockerfile.second` and so on. The file matching looks for the largest subsequence, so `first.second.third` could also match {`Dockerfile.first.second`, `Dockerfile.third`} depending on which files exist in the search paths. Using this pattern, you can add your own layers on top of the base images provided in Isaac ROS to setup your environment your way, such as installing additional packages to use.
 
 If you write a file with the name `.isaac_ros_common-config` in the same directory as the `run_dev.sh`, you can configure the development environment. The following keys can be configured in `.isaac_ros_common-config`:
 
-| Key                         | Type                 | Description                                                 | Examples                               |
-| --------------------------- | -------------------- | ----------------------------------------------------------- | -------------------------------------- |
-| `CONFIG_IMAGE_KEY`          | String               | Image key with period-delimited components                  | `humble.nav2.realsense` <br/> `humble` |
-| `CONFIG_DOCKER_SEARCH_DIRS` | Bash array of string | List of directories to search for Dockerfiles when matching | `($HOME/ros_ws/docker $HOME/docker)`   |
-
+| Key                         | Type                 | Description                                                 | Examples                              |
+| --------------------------- | -------------------- | ----------------------------------------------------------- | ------------------------------------- |
+| `CONFIG_IMAGE_KEY`          | String               | Image key with period-delimited components                  | `humble.nav2.realsense` <br> `humble` |
+| `CONFIG_DOCKER_SEARCH_DIRS` | Bash array of string | List of directories to search for Dockerfiles when matching | `($HOME/ros_ws/docker $HOME/docker)`  |
 
 For example, suppose you had a directory structure as follows:
-```
+
+```log
 workspaces/isaac_ros-dev
     workspaces/isaac_ros-dev/ros_ws
         workspaces/isaac_ros-dev/ros_ws/src
@@ -58,45 +60,48 @@ COPY myfile.txt /myfile.txt
 ... more steps ...
 ```
 
-You could extend the base image launched as a container by `run_dev.sh` as follows. 
+You could extend the base image launched as a container by `run_dev.sh` as follows.
 
 `workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_common/scripts/.isaac_ros_common-config`
-```
+
+```vim
 CONFIG_IMAGE_KEY="humble.nav2.mine"
 CONFIG_DOCKER_SEARCH_DIRS=(workspaces/isaac_ros-dev/ros_ws/docker)
 ```
 
 This configures the image key to match with `mine` included and where to look first for the Dockerfiles before the default.
 
 ## Table of Contents
+
 - [Isaac ROS Common](#isaac-ros-common)
   - [Overview](#overview)
     - [Docker Development Scripts](#docker-development-scripts)
     - [Configuring run_dev.sh](#configuring-run_devsh)
   - [Table of Contents](#table-of-contents)
   - [Latest Update](#latest-update)
   - [Supported Platforms](#supported-platforms)
-- [Updates](#updates)
+  - [Updates](#updates)
 
 ## Latest Update
-Update 2022-08-31: Update to be compatible with JetPack 5.0.2
+
+Update 2022-10-19: Minor updates and bugfixes
 
 ## Supported Platforms
+
 This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU.
 
 > **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release.
 
+| Platform | Hardware                                                                                                                                                                                                 | Software                                                                                                             | Notes                                                                                                                                                                                   |
+| -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/) <br> [Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack)                                                       | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
+| x86_64   | NVIDIA GPU                                                                                                                                                                                               | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/) <br> [CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
 
-| Platform | Hardware                                                                                                                                                                                                | Software                                                                                                             | Notes                                                                                                                                                                                   |
-| -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack)                                                       | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
-| x86_64   | NVIDIA GPU                                                                                                                                                                                              | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/) <br> [CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
-
-
-# Updates
+## Updates
 
 | Date       | Changes                                                                                                                                                       |
 | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 2022-10-19 | Minor updates and bugfixes                                                                                                                                    |
 | 2022-08-31 | Update to be compatible with JetPack 5.0.2                                                                                                                    |
 | 2022-06-30 | Support ROS2 Humble and miscellaneous bug fixes.                                                                                                              |
 | 2022-06-16 | Update `run_dev.sh` and removed `isaac_ros_nvengine`                                                                                                          |

diff --git a/docker/Dockerfile.aarch64 b/docker/Dockerfile.aarch64
@@ -211,3 +211,7 @@ RUN apt-get update && apt-get install -y --only-upgrade \
 # Downgrade protobuf
 RUN python3 -m pip install \
         protobuf==3.20.1
+
+# GPU usage monitoring on Jetson
+RUN python3 -m pip install -U \
+  jetson-stats
diff --git a/docker/Dockerfile.aarch64.humble.nav2 b/docker/Dockerfile.aarch64.humble.nav2
@@ -6,4 +6,4 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-FROM nvcr.io/nvidia/isaac/ros:aarch64-humble-nav2_35120f31b84976ec36009722e16f1524
+FROM nvcr.io/nvidia/isaac/ros:aarch64-humble-nav2_6dfaf7adbe190f1181c3a0a2f2418760
diff --git a/docker/Dockerfile.humble b/docker/Dockerfile.humble
@@ -106,10 +106,8 @@ RUN mkdir -p ${ROS_ROOT}/src && \
 	> ros2.${ROS_DISTRO}.ros_base.rosinstall && \
     cat ros2.${ROS_DISTRO}.ros_base.rosinstall && \
     vcs import src < ros2.${ROS_DISTRO}.ros_base.rosinstall && \
-    rm ${ROS_ROOT}/*.rosinstall
-
-# Install dependencies using rosdep
-RUN cd ${ROS_ROOT} \
+    rm ${ROS_ROOT}/*.rosinstall && \
+    cd ${ROS_ROOT} \
     && apt-get update \
     && rosdep init \
     && rosdep update \
@@ -119,13 +117,11 @@ RUN cd ${ROS_ROOT} \
       --rosdistro ${ROS_DISTRO} \
       --skip-keys "fastcdr rti-connext-dds-6.0.1 rti-connext-dds-5.3.1 urdfdom_headers libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" \
     && rm -Rf /var/lib/apt/lists/* \
-    && apt-get clean
-
-# Build ROS2 source
-RUN cd ${ROS_ROOT} \
-      && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to behaviortree_cpp_v3 \
-      && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-      && rm -Rf src build log
+    && apt-get clean && \ 
+    cd ${ROS_ROOT} \
+    && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to behaviortree_cpp_v3 \
+    && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    && rm -Rf src build log
 
 # Alias setup.bash for consistency with pre-built binary installations of ROS2
 RUN echo "source /opt/ros/${ROS_DISTRO}/install/setup.bash ; export ROS_DISTRO=${ROS_DISTRO}" > /opt/ros/${ROS_DISTRO}/setup.bash

diff --git a/docker/Dockerfile.realsense b/docker/Dockerfile.realsense
@@ -0,0 +1,10 @@
+# Dockerfile for setting up Realsense driver
+#  https://github.com/jetsonhacks/installRealSenseSDK
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh
+COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh
+
+RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && /opt/realsense/install-realsense-dependencies.sh
+RUN chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh
diff --git a/docker/Dockerfile.x86_64 b/docker/Dockerfile.x86_64
@@ -8,7 +8,7 @@
 #
 # Docker file to build on x86_64
 # https://docs.nvidia.com/deeplearning/frameworks/user-guide/index.html
-ARG BASE_IMAGE=nvcr.io/nvidia/tritonserver:22.03-py3
+ARG BASE_IMAGE=nvcr.io/nvidia/tritonserver:22.08-py3
 FROM ${BASE_IMAGE}
 
 # disable terminal interaction for apt
@@ -177,3 +177,14 @@ RUN apt-get update && apt-get install -y --only-upgrade \
 # Downgrade protobuf
 RUN python3 -m pip install \
         protobuf==3.20.1
+
+# GPU usage monitoring on x86
+RUN python3 -m pip install \
+    gpustat==0.6.0
+
+# Python3 (PIP)
+RUN python3 -m pip install -U \
+    mailcap-fix
+
+# Resolve vulnerability in mailcap.py by removing it (CVE-2015-20107)
+RUN rm -f /opt/tritonserver/backends/dali/conda/envs/dalienv/lib/python3.8/mailcap.py
diff --git a/docker/Dockerfile.x86_64.humble.nav2 b/docker/Dockerfile.x86_64.humble.nav2
@@ -6,4 +6,4 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-FROM nvcr.io/nvidia/isaac/ros:x86_64-humble-nav2_53c4c553a22864a0675e9b05bb7cf19b
+FROM nvcr.io/nvidia/isaac/ros:x86_64-humble-nav2_5bd606e569673db8cb1f78f393a5c46b
diff --git a/docker/realsense-dockerfile-example/.isaac_ros_common-config b/docker/realsense-dockerfile-example/.isaac_ros_common-config
diff --git a/docker/realsense-dockerfile-example/Dockerfile.realsense b/docker/realsense-dockerfile-example/Dockerfile.realsense
diff --git a/...e-dockerfile-example/buildLibrealsense.sh → docker/scripts/build-librealsense.sh b/...e-dockerfile-example/buildLibrealsense.sh → docker/scripts/build-librealsense.sh
@@ -11,7 +11,7 @@ USE_CUDA=true
 
 function usage ()
 {
-    echo "Usage: ./buildLibrealsense.sh [-n | -no_cuda] [-v | -version <version>] [-j | --jobs <number of jobs>] [-h | --help] "
+    echo "Usage: ./build-librealsense.sh [-n | -no_cuda] [-v | -version <version>] [-j | --jobs <number of jobs>] [-h | --help] "
     echo "-n  | --no_cuda   Build with no CUDA (Defaults to with CUDA)"
     echo "-v  | --version   Version of librealsense to build 
                       (defaults to latest release)"
@@ -21,7 +21,7 @@ function usage ()
     exit 2
 }
 
-PARSED_ARGUMENTS=$(getopt -a -n buildLibrealsense.sh -o nv:j:h --longoptions version:,no_cuda,jobs:,help -- "$@" )
+PARSED_ARGUMENTS=$(getopt -a -n build-librealsense.sh -o nv:j:h --longoptions version:,no_cuda,jobs:,help -- "$@" )
 VALID_ARGUMENTS=$?
 
 if [ "$VALID_ARGUMENTS" != "0" ]; then

diff --git a/...dockerfile-example/installDependencies.sh → ...scripts/install-realsense-dependencies.sh b/...dockerfile-example/installDependencies.sh → ...scripts/install-realsense-dependencies.sh
@@ -1,5 +1,5 @@
 #!/bin/bash
-# installDependencies.sh
+# install-realsense-dependencies.sh
 # Install dependencies for  the Intel Realsense library librealsense2 on a Jetson Nano Developer Kit
 # Copyright (c) 2016-19 Jetsonhacks 
 # MIT License
@@ -21,4 +21,4 @@ apt-get install libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev -y
 apt-get install qtcreator -y
 
 # Add Python 3 support
-apt-get install -y python3 python3-dev
+apt-get install -y python3 python3-dev
diff --git a/docs/camera-calibration.md b/docs/camera-calibration.md
@@ -3,10 +3,11 @@
 > **Note:** These instructions are specifically for a monocular camera. To calibrate a stereoscopic camera, please follow [these instructions](http://wiki.ros.org/camera_calibration).
 
 1. Set up your development environment by following the instructions [here](./dev-env-setup.md).
-2. Print a large checkerboard with known dimensions. 
+2. Print a large checkerboard with known dimensions.
 
     This tutorial uses a 6x8 checkerboard with 200mm squares. Calibration uses the interior vertex points of the checkerboard, so a “7x9” board uses the interior vertex parameter “6x8” as in the example below. Checkerboards with specific dimensions can be downloaded [here](https://calib.io/pages/camera-calibration-pattern-generator).
-3. Clone the ROS2 `usb_cam` package: 
+3. Clone the ROS2 `usb_cam` package:
+
    ```bash
     cd ~/workspaces/isaac_ros-dev/src && \
       git clone -b ros2 https://github.com/ros-drivers/usb_cam
@@ -15,41 +16,52 @@
     > **Note:** Your camera vendor may offer a specific ROS2-compatible camera driver package that can be used in place of the `usb_cam` package.
 
 4. Launch the Docker container using the `run_dev.sh` script:
+
     ```bash
     cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
       ./scripts/run_dev.sh
     ```
+
 5. Inside the container, build and source the workspace:  
+
     ```bash
     cd /workspaces/isaac_ros-dev && \
       colcon build --symlink-install && \
       source install/setup.bash
     ```
+
 6. Run the `usb_cam` image publisher:  
+
     ```bash
     ros2 run usb_cam usb_cam_node_exe --remap __ns:=/my_camera --ros-args -p framerate:=30.0 -p image_height:=720 -p image_width:=1280
     ```
 
 7. Attach another terminal to the Docker container using the `run_dev.sh` script:
+
     ```bash
     cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
       ./scripts/run_dev.sh
     ```
+
 8. Run the camera calibrator:
+
     ```bash
     ros2 run camera_calibration cameracalibrator --size 6x8 --square 0.20 image:=/my_camera/image_raw camera:=/my_camera
     ```
-9.  Complete steps 6-8 from [this tutorial](https://navigation.ros.org/tutorials/docs/camera_calibration.html).
-10. Make sure you press **Calibrate** and then the **Save** button. 
+
+9. Complete steps 6-8 from [this tutorial](https://navigation.ros.org/tutorials/docs/camera_calibration.html).
+10. Make sure you press **Calibrate** and then the **Save** button.
 
     You should see the following line in the second terminal:
+
     ```bash
     ('Wrote calibration data to', '/tmp/calibrationdata.tar.gz')
     ```
 
     The calibration file will be stored at `/tmp/calibrationdata.tar.gz`.
-10. Once the calibration file has been saved, enter `Ctrl+C` in each terminal to stop the nodes.
+11. Once the calibration file has been saved, enter `Ctrl+C` in each terminal to stop the nodes.
 12. Move the calibration file to the required location
+
     ```bash
       cd /workspaces/isaac_ros-dev/src/<isaac_ros_metapackage>/<isaac_ros_package>/config/ && \
       tar -xvf /tmp/calibrationdata.tar.gz -C ./ ost.yaml && \