Merge pull request #40 from NVIDIA-ISAAC-ROS/release-3.0

Isaac ROS 3.0.0
NVIDIA-ISAAC-ROS · May 31, 2024 · 1db58ee · 1db58ee
2 parents b43ecae + f45b220
commit 1db58ee
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diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # Isaac ROS Object Detection
 
-Hardware-accelerated, deep learned model support for object detection including DetectNet.
+NVIDIA-accelerated, deep learned model support for object detection including DetectNet.
 
 <div align="center"><img alt="original image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_object_detection/isaac_ros_object_detection_example.png/" width="300px"/>
 <img alt="bounding box predictions using DetectNet" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_object_detection/isaac_ros_object_detection_example_bbox.png/" width="300px"/></div>
@@ -60,9 +60,10 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 ## Performance
 
-| Sample Graph<br/><br/>                                                                                                                                         | Input Size<br/><br/>     | AGX Orin<br/><br/>                                                                                                                                         | Orin NX<br/><br/>                                                                                                                                         | Orin Nano 8GB<br/><br/>                                                                                                                                      | x86_64 w/ RTX 4060 Ti<br/><br/>                                                                                                                               |
-|----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts/isaac_ros_detectnet_graph.py)<br/><br/><br/><br/> | 544p<br/><br/><br/><br/> | [232 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br/><br/><br/>11 ms<br/><br/> | [105 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br/><br/><br/>15 ms<br/><br/> | [74.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano.json)<br/><br/><br/>22 ms<br/><br/> | [644 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-nuc_4060ti.json)<br/><br/><br/>5.6 ms<br/><br/> |
+| Sample Graph<br/><br/>                                                                                                                                                                                             | Input Size<br/><br/>     | AGX Orin<br/><br/>                                                                                                                                                | Orin NX<br/><br/>                                                                                                                                                | Orin Nano 8GB<br/><br/>                                                                                                                                             | x86_64 w/ RTX 4060 Ti<br/><br/>                                                                                                                                     | x86_64 w/ RTX 4090<br/><br/>                                                                                                                                      |
+|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [RT-DETR Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_rtdetr_benchmark/scripts/isaac_ros_rtdetr_graph.py)<br/><br/><br/>SyntheticaDETR<br/><br/> | 720p<br/><br/><br/><br/> | [71.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-agx_orin.json)<br/><br/><br/>24 ms @ 30Hz<br/><br/>   | [30.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-orin_nx.json)<br/><br/><br/>41 ms @ 30Hz<br/><br/>   | [21.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-orin_nano.json)<br/><br/><br/>61 ms @ 30Hz<br/><br/>    | [205 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-nuc_4060ti.json)<br/><br/><br/>8.7 ms @ 30Hz<br/><br/>   | [400 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_rtdetr_graph-x86_4090.json)<br/><br/><br/>6.3 ms @ 30Hz<br/><br/>   |
+| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_detectnet_benchmark/scripts/isaac_ros_detectnet_graph.py)<br/><br/><br/><br/>            | 544p<br/><br/><br/><br/> | [165 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/> | [115 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br/><br/><br/>26 ms @ 30Hz<br/><br/> | [63.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano.json)<br/><br/><br/>36 ms @ 30Hz<br/><br/> | [488 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-nuc_4060ti.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> | [589 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-x86_4090.json)<br/><br/><br/>10 ms @ 30Hz<br/><br/> |
 
 ---
 
@@ -80,10 +81,17 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
   * [ROS 2 Graph Configuration](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#ros-2-graph-configuration)
   * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#troubleshooting)
   * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html#api)
+* [`isaac_ros_rtdetr`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html)
+  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#quickstart)
+  * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#try-more-examples)
+  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#troubleshooting)
+  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_rtdetr/index.html#api)
 * [`isaac_ros_yolov8`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html)
   * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#quickstart)
+  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#troubleshooting)
   * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#api)
+  * [Usage](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html#usage)
 
 ## Latest
 
-Update 2023-10-18: Adding NITROS YOLOv8 decoder.
+Update 2024-05-30: Added RT-DETR object detection package
diff --git a/gxf_isaac_detectnet/CMakeLists.txt b/gxf_isaac_detectnet/CMakeLists.txt
@@ -0,0 +1,66 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.22.1)
+project(gxf_isaac_detectnet LANGUAGES C CXX)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-fPIC -w)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# Dependencies
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+find_package(isaac_ros_nitros_detection2_d_array_type REQUIRED)
+find_package(yaml-cpp)
+
+# DetectNet extension
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  gxf/detectnet/detectnet.cpp
+  gxf/detectnet/detectnet_decoder.cpp
+  gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.cpp
+  gxf/deepstream_utils/nvdsinferutils/dbscan/nvdsinfer_dbscan.hpp
+  gxf/deepstream_utils/nvdsinferutils/dbscan/EigenDefs.hpp
+)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/gxf
+  ${isaac_ros_nitros_detection2_d_array_type_INCLUDE_DIRS}
+  ${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinfer/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinferutils/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/gxf/deepstream_utils/nvdsinferutils/dbscan
+)
+
+target_link_libraries(${PROJECT_NAME}
+  Eigen3::Eigen
+  ${isaac_ros_nitros_detection2_d_array_type_LIBRARIES}
+  yaml-cpp
+)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  BUILD_RPATH_USE_ORIGIN TRUE
+  INSTALL_RPATH_USE_LINK_PATH TRUE
+)
+
+# Install the binary file
+install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
+
+ament_auto_package(INSTALL_TO_SHARE)
diff --git a/...deepstream_utils/include/nvds_transform.h → ...deepstream_utils/include/nvds_transform.h b/...deepstream_utils/include/nvds_transform.h → ...deepstream_utils/include/nvds_transform.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2020-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2020-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...tream_utils/nvdsinfer/include/nvdsinfer.h → ...tream_utils/nvdsinfer/include/nvdsinfer.h b/...tream_utils/nvdsinfer/include/nvdsinfer.h → ...tream_utils/nvdsinfer/include/nvdsinfer.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2017-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...ils/nvdsinfer/include/nvdsinfer_context.h → ...ils/nvdsinfer/include/nvdsinfer_context.h b/...ils/nvdsinfer/include/nvdsinfer_context.h → ...ils/nvdsinfer/include/nvdsinfer_context.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...nvdsinfer/include/nvdsinfer_custom_impl.h → ...nvdsinfer/include/nvdsinfer_custom_impl.h b/...nvdsinfer/include/nvdsinfer_custom_impl.h → ...nvdsinfer/include/nvdsinfer_custom_impl.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2017-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...utils/nvdsinferutils/dbscan/EigenDefs.hpp → ...utils/nvdsinferutils/dbscan/EigenDefs.hpp b/...utils/nvdsinferutils/dbscan/EigenDefs.hpp → ...utils/nvdsinferutils/dbscan/EigenDefs.hpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...vdsinferutils/dbscan/nvdsinfer_dbscan.cpp → ...vdsinferutils/dbscan/nvdsinfer_dbscan.cpp b/...vdsinferutils/dbscan/nvdsinfer_dbscan.cpp → ...vdsinferutils/dbscan/nvdsinfer_dbscan.cpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...vdsinferutils/dbscan/nvdsinfer_dbscan.hpp → ...vdsinferutils/dbscan/nvdsinfer_dbscan.hpp b/...vdsinferutils/dbscan/nvdsinfer_dbscan.hpp → ...vdsinferutils/dbscan/nvdsinfer_dbscan.hpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...nvdsinferutils/include/nvdsinfer_dbscan.h → ...nvdsinferutils/include/nvdsinfer_dbscan.h b/...nvdsinferutils/include/nvdsinfer_dbscan.h → ...nvdsinferutils/include/nvdsinfer_dbscan.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...ls/nvdsinferutils/include/nvdsinfer_tlt.h → ...ls/nvdsinferutils/include/nvdsinfer_tlt.h b/...ls/nvdsinferutils/include/nvdsinfer_tlt.h → ...ls/nvdsinferutils/include/nvdsinfer_tlt.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2019-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2019-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/.../nvdsinferutils/include/nvdsinfer_utils.h → .../nvdsinferutils/include/nvdsinfer_utils.h b/.../nvdsinferutils/include/nvdsinfer_utils.h → .../nvdsinferutils/include/nvdsinfer_utils.h
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...ros_detectnet/gxf/detectnet/detectnet.cpp → ...aac_detectnet/gxf/detectnet/detectnet.cpp b/...ros_detectnet/gxf/detectnet/detectnet.cpp → ...aac_detectnet/gxf/detectnet/detectnet.cpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...ctnet/gxf/detectnet/detectnet_decoder.cpp → ...ctnet/gxf/detectnet/detectnet_decoder.cpp b/...ctnet/gxf/detectnet/detectnet_decoder.cpp → ...ctnet/gxf/detectnet/detectnet_decoder.cpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -23,7 +23,7 @@
 
 #include "gxf/multimedia/camera.hpp"
 #include "gxf/multimedia/video.hpp"
-#include "gxf/std/parameter_parser_std.hpp"
+#include "gxf/core/parameter_parser_std.hpp"
 #include "gxf/std/timestamp.hpp"
 #include "cuda.h"
 #include "cuda_runtime.h"
@@ -272,9 +272,9 @@ gxf_result_t DetectnetDecoder::tick() noexcept
     return GXF_FAILURE;
   }
 
-  std::unique_ptr<float[]> bbox_tensor_arr(new float[bbox_tensor->element_count()]);
+  float bbox_tensor_arr[bbox_tensor->size() / sizeof(float)]; // since data in tensor is kFloat32
   const cudaError_t cuda_error_bbox_tensor = cudaMemcpy(
-    bbox_tensor_arr.get(), bbox_tensor->pointer(),
+    &bbox_tensor_arr, bbox_tensor->pointer(),
     bbox_tensor->size(), cudaMemcpyDeviceToHost);
   if (cuda_error_bbox_tensor != cudaSuccess) {
     GXF_LOG_ERROR("Error while copying kernel: %s", cudaGetErrorString(cuda_error_bbox_tensor));

diff --git a/...t/include/detectnet/detectnet_decoder.hpp → ...ctnet/gxf/detectnet/detectnet_decoder.hpp b/...t/include/detectnet/detectnet_decoder.hpp → ...ctnet/gxf/detectnet/detectnet_decoder.hpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -22,7 +22,7 @@
 #include "gxf/core/gxf.h"
 #include "gxf/core/parameter.hpp"
 #include "gxf/std/codelet.hpp"
-#include "gxf/std/parameter_parser_std.hpp"
+#include "gxf/core/parameter_parser_std.hpp"
 #include "gxf/std/receiver.hpp"
 #include "gxf/std/transmitter.hpp"
 #include "detection2_d_array_message.hpp"

diff --git a/gxf_isaac_detectnet/package.xml b/gxf_isaac_detectnet/package.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+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>gxf_isaac_detectnet</name>
+  <version>3.0.0</version>
+  <description>Detectnet GXF extension.</description>
+
+  <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
+  <license>Apache-2.0</license>
+  <url type="website">https://developer.nvidia.com/isaac-ros-gems/</url>
+  <author>CY Chen</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>isaac_ros_common</depend>
+  <depend>isaac_ros_gxf</depend>
+  <depend>isaac_ros_nitros_detection2_d_array_type</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>