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Merge pull request #82 from NVIDIA-ISAAC-ROS/release-2.0.0
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Isaac ROS 2.0.0
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@hemalshahNV
hemalshahNV authored Oct 19, 2023
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Nvblox ROS 2 integration for local 3D scene reconstruction and mapping.

<div align="center"><a class="reference internal image-reference" href="https://gitlab-master.nvidia.com/isaac_ros/nvidia-isaac-ros/-/raw/dev/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_sim_nvblox_humans.gif/"><img alt="image" src="https://gitlab-master.nvidia.com/isaac_ros/nvidia-isaac-ros/-/raw/dev/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/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>

## Overview

[Isaac ROS Nvblox](https://gitlab-master.nvidia.com/isaac_ros/isaac_ros_nvblox) contains ROS 2 packages for 3D reconstruction and cost
[Isaac ROS Nvblox](https://github.com/NVIDIA-ISAAC-ROS/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
Expand All @@ -18,7 +18,7 @@ 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://gitlab-master.nvidia.com/isaac_ros/nvidia-isaac-ros/-/raw/dev/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox_nodegraph.png/"><img alt="image" src="https://gitlab-master.nvidia.com/isaac_ros/nvidia-isaac-ros/-/raw/dev/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/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>

Above is a typical graph that uses `isaac_ros_nvblox`.
Nvblox takes a depth image, a color image, and a pose as input, with
Expand All @@ -40,7 +40,7 @@ The graph above shows `isaac_ros_nvblox` operating in human reconstruction
mode. The color image corresponding to the depth image is processed with `unet`, using
the PeopleSemSegNet DNN model to estimate a segmentation mask for
persons in the color image. Nvblox uses this mask to separate reconstructed persons into a
separate humans-only part of the reconstruction. The [Technical Details](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/concepts/scene_reconstruction/nvblox/technical_details.html)
separate humans-only part of the reconstruction. The [Technical Details](https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/technical_details.html)
provide more information on these three types of mapping.

## Performance
Expand Down Expand Up @@ -119,33 +119,33 @@ The following tables provides timings for various functions of

## Documentation

Please visit the [Isaac ROS Documentation](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/index.html) to learn how to use this repository.
Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/index.html) to learn how to use this repository.

---

## Packages

* [`isaac_ros_nvblox`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html)
* [Quickstart](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#quickstart)
* [Try More Examples](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#try-more-examples)
* [API](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#api)
* [ROS Parameters](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/api/parameters.html)
* [ROS Topics and Services](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/api/topics_and_services.html)
* [Troubleshooting](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#troubleshooting)
* [Isaac Sim Issues](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_isaac_sim.html)
* [RealSense Issues](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_realsense.html)
* [ROS Communication Issues](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_ros_communication.html)
* [`nvblox_examples_bringup`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_examples_bringup/index.html)
* [`nvblox_image_padding`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_image_padding/index.html)
* [`nvblox_isaac_sim`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_isaac_sim/index.html)
* [`nvblox_msgs`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_msgs/index.html)
* [`nvblox_nav2`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_nav2/index.html)
* [`nvblox_performance_measurement`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_performance_measurement/index.html)
* [`nvblox_ros`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_ros/index.html)
* [`nvblox_ros_common`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_ros_common/index.html)
* [`nvblox_rviz_plugin`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/nvblox_rviz_plugin/index.html)
* [`realsense_splitter`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/realsense_splitter/index.html)
* [`semantic_label_conversion`](https://isaac_ros.gitlab-master-pages.nvidia.com/isaac_ros_docs/repositories_and_packages/isaac_ros_nvblox/semantic_label_conversion/index.html)
* [`isaac_ros_nvblox`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html)
* [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#quickstart)
* [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#try-more-examples)
* [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#api)
* [ROS Parameters](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/api/parameters.html)
* [ROS Topics and Services](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/api/topics_and_services.html)
* [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html#troubleshooting)
* [Isaac Sim Issues](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_isaac_sim.html)
* [RealSense Issues](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/troubleshooting/troubleshooting_nvblox_realsense.html)
* [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)
* [`realsense_splitter`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/realsense_splitter/index.html)
* [`semantic_label_conversion`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/semantic_label_conversion/index.html)

## Latest

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