Merge pull request #24 from NVIDIA-ISAAC-ROS/release-dp3.1

Isaac ROS 0.31.0 (DP3.1)
NVIDIA-ISAAC-ROS · May 26, 2023 · 8b461fc · 8b461fc
2 parents 94059d4 + 6fe28fb
commit 8b461fc
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diff --git a/README.md b/README.md
@@ -30,9 +30,10 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 The performance results of benchmarking the prepared pipelines in this package on supported platforms are below:
 
-| Pipeline                   | AGX Orin           | Orin Nano        | x86_64 w/ RTX 3060 Ti |
-| -------------------------- | ------------------ | ---------------- | --------------------- |
-| Isaac ROS Detectnet (544p) | 225 fps <br> 7.7ms | 72 fps <br> 18ms | 450 fps <br> 3.2ms    |
+| Sample Graph                                                                                                                                        | Input Size | AGX Orin                                                                                                                                       | Orin NX                                                                                                                                      | Orin Nano 8GB                                                                                                                                        | x86_64 w/ RTX 4060 Ti |
+| --------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------- |
+| [DetectNet Object Detection Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_detectnet_graph.py) | 544p       | [252 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-agx_orin.json)<br>8.7 ms | [110 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nx.json)<br>13 ms | [77.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_detectnet_graph-orin_nano_emul.json)<br>18 ms | --                    |
+
 
 > **Note**: These numbers are reported with defaults parameter values found in [params.yaml](./isaac_ros_detectnet/config/params.yaml).
 
@@ -81,7 +82,7 @@ To run the DetectNet object detection inference, the following ROS 2 nodes shoul
 
 ## Latest Update
 
-Update 2023-04-05: Source available GXF extensions
+Update 2023-05-25: Performance improvements.
 
 ## Supported Platforms
 
@@ -249,6 +250,7 @@ For solutions to problems with using DNN models, please check [here](https://git
 
 | Date       | Changes                                                                               |
 | ---------- | ------------------------------------------------------------------------------------- |
+| 2023-05-25 | Performance improvements                                                              |
 | 2023-04-05 | Source available GXF extensions                                                       |
 | 2022-10-19 | Updated OSS licensing                                                                 |
 | 2022-08-31 | Update to use NITROS for improved performance and to be compatible with JetPack 5.0.2 |

diff --git a/isaac_ros_detectnet/config/detectnet_node.yaml b/isaac_ros_detectnet/config/detectnet_node.yaml
@@ -1,6 +1,6 @@
 %YAML 1.2
 # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (c) 2022-2023 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.
@@ -58,35 +58,38 @@ components:
     transmitter: detections_out
     min_size: 1
 ---
-name: vault
+name: sink
 components:
 - name: signal
   type: nvidia::gxf::DoubleBufferReceiver
   parameters:
-    capacity: 1
+    capacity: 2
     policy: 0
 - type: nvidia::gxf::MessageAvailableSchedulingTerm
   parameters:
     receiver: signal
     min_size: 1
-- name: vault
-  type: nvidia::gxf::Vault
+- name: sink
+  type: nvidia::isaac_ros::MessageRelay
   parameters:
     source: signal
-    max_waiting_count: 1
-    drop_waiting: false
 ---
 components:
 - name: edge0
   type: nvidia::gxf::Connection
   parameters:
     source: detectnet_decoder/detections_out
-    target: vault/signal
+    target: sink/signal
 ---
 components:
-- type: nvidia::gxf::GreedyScheduler
+- name: clock
+  type: nvidia::gxf::RealtimeClock
+- type: nvidia::gxf::MultiThreadScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
-- name: clock
-  type: nvidia::gxf::RealtimeClock
+    check_recession_period_ms: 1
+    worker_thread_number: 2
+- type: nvidia::gxf::JobStatistics
+  parameters:
+    clock: clock
diff --git a/isaac_ros_detectnet/gxf/detectnet/detectnet_decoder.cpp b/isaac_ros_detectnet/gxf/detectnet/detectnet_decoder.cpp
@@ -261,6 +261,7 @@ gxf_result_t DetectnetDecoder::tick() noexcept
     return GXF_FAILURE;
   }
 
+  // TODO(ashwinvk): Do not copy data to host and perform decoding using cuda
   // copy memory to host
   float cov_tensor_arr[cov_tensor->size() / sizeof(float)]; // since data in tensor is kFloat32
   const cudaError_t cuda_error_cov_tensor = cudaMemcpy(

diff --git a/isaac_ros_detectnet/package.xml b/isaac_ros_detectnet/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_detectnet</name>
-  <version>0.30.0</version>
+  <version>0.31.0</version>
   <description>DetectNet model processing</description>
 
   <maintainer email="[email protected]">Ashwin Varghese Kuruttukulam</maintainer>

diff --git a/isaac_ros_detectnet/src/detectnet_decoder_node.cpp b/isaac_ros_detectnet/src/detectnet_decoder_node.cpp
@@ -1,5 +1,5 @@
 // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
-// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// Copyright (c) 2021-2023 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.
@@ -50,7 +50,7 @@ using nvidia::gxf::optimizer::GraphIOGroupSupportedDataTypesInfoList;
 #define INPUT_DEFAULT_TENSOR_FORMAT_TENSORLIST  "nitros_tensor_list_nchw_rgb_f32"
 #define INPUT_TOPIC_NAME_TENSORLIST             "tensor_sub"
 
-#define OUTPUT_COMPONENT_KEY_DETECTIONS         "vault/vault"
+#define OUTPUT_COMPONENT_KEY_DETECTIONS         "sink/sink"
 #define OUTPUT_DEFAULT_TENSOR_FORMAT_DETECTIONS "nitros_detection2_d_array"
 #define OUTPUT_TOPIC_NAME_TAG_DETECTIONS        "detectnet/detections"