From 50f2c9112af525c17ae78cadf3d6596d1551ffad Mon Sep 17 00:00:00 2001
From: Hemal Shah <hemals@nvidia.com>
Date: Fri, 17 Nov 2023 02:05:21 +0000
Subject: [PATCH] Isaac ROS 2.1.0

---
 isaac_ros_bi3d/config/bi3d_node.yaml          | 20 +++++++++++++++++++
 isaac_ros_bi3d/package.xml                    |  2 +-
 .../package.xml                               |  2 +-
 3 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/isaac_ros_bi3d/config/bi3d_node.yaml b/isaac_ros_bi3d/config/bi3d_node.yaml
index 00c70b8..a3331cf 100644
--- a/isaac_ros_bi3d/config/bi3d_node.yaml
+++ b/isaac_ros_bi3d/config/bi3d_node.yaml
@@ -310,6 +310,14 @@ components:
     threshold_value_high: 1.0
     max_disparity_levels: 64
     disparity_values: [18]
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: forward_pool
+    min_blocks: 1
 ---
 name: bi3d_dla1
 components:
@@ -407,6 +415,14 @@ components:
     threshold_value_high: 1.0
     max_disparity_levels: 64
     disparity_values: [18]
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: forward_pool
+    min_blocks: 1
 ---
 name: sync_bi3d_dla0
 components:
@@ -489,6 +505,10 @@ components:
     disparity_tensor_name: "disparity"
     disparity_values_tensor_name: "bi3d_inference_disparities"
     disparity_values: [18]
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: disparity_compositor
 components:
diff --git a/isaac_ros_bi3d/package.xml b/isaac_ros_bi3d/package.xml
index 3e5f404..6a7f308 100644
--- a/isaac_ros_bi3d/package.xml
+++ b/isaac_ros_bi3d/package.xml
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_bi3d</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Bi3D inference network for ROS</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>
diff --git a/isaac_ros_nitros_bi3d_inference_param_array_type/package.xml b/isaac_ros_nitros_bi3d_inference_param_array_type/package.xml
index 8bf1e6c..fa58ff0 100644
--- a/isaac_ros_nitros_bi3d_inference_param_array_type/package.xml
+++ b/isaac_ros_nitros_bi3d_inference_param_array_type/package.xml
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nitros_bi3d_inference_param_array_type</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Isaac ROS Nitros Bi3D Inferece Param Array Type</description>
 
   <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>