Merge pull request #13 from NVIDIA-ISAAC-ROS/release-dp3.1

Isaac ROS 0.31.0 (DP3.1)
NVIDIA-ISAAC-ROS · May 26, 2023 · fd902ff · fd902ff
2 parents 169cdba + e5f327c
commit fd902ff
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Showing 14 changed files with 82 additions and 62 deletions.
diff --git a/README.md b/README.md
@@ -26,9 +26,9 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 The following table summarizes the per-platform performance statistics of sample graphs that use this package, with links included to the full benchmark output. These benchmark configurations are taken from the [Isaac ROS Benchmark](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark#list-of-isaac-ros-benchmarks) collection, based on the [`ros2_benchmark`](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) framework.
 
-| Sample Graph                                                                                                                             | Input Size | AGX Orin                                                                                                                                 | Orin NX                                                                                                                                 | x86_64 w/ RTX 3060 Ti                                                                                                                            |
-| ---------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [Proximity Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_bi3d_node.py) | 576p       | [45.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-agx_orin.json)<br>32 ms | [26.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-orin_nx.json)<br>65 ms | [148 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-x86_64_rtx_3060Ti.json)<br>22 ms |
+| Sample Graph                                                                                                                             | Input Size | AGX Orin                                                                                                                                 | Orin NX                                                                                                                                 | x86_64 w/ RTX 4060 Ti                                                                                                                     |
+| ---------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
+| [Proximity Segmentation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/scripts//isaac_ros_bi3d_node.py) | 576p       | [49.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-agx_orin.json)<br>32 ms | [24.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-orin_nx.json)<br>65 ms | [159 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_bi3d_node-nuc_4060ti.json)<br>23 ms |
 
 ## Table of Contents
 
@@ -66,7 +66,7 @@ The following table summarizes the per-platform performance statistics of sample
 
 ## Latest Update
 
-Update 2023-04-05: Source available GXF extensions
+Update 2023-05-25: Performance improvements.
 
 ## Supported Platforms
 
@@ -328,6 +328,7 @@ Check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference/blob/ma
 
 | Date       | Changes                                                            |
 | ---------- | ------------------------------------------------------------------ |
+| 2023-05-25 | Performance improvements                                           |
 | 2023-04-05 | Source available GXF extensions                                    |
 | 2022-08-31 | Update to use latest model and to be compatible with JetPack 5.0.2 |
 | 2022-06-30 | Initial release                                                    |
diff --git a/isaac_ros_bi3d/config/bi3d_node.yaml b/isaac_ros_bi3d/config/bi3d_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.
@@ -252,7 +252,7 @@ components:
     featnet_engine_file_path: "featnet_engine_file_path"
     featnet_input_layers_name: ["input.1"]
     featnet_output_layers_name: ["97"]
-  
+
     segnet_engine_file_path: "segnet_engine_file_path"
     segnet_input_layers_name: ["input.1"]
     segnet_output_layers_name: ["278"]
@@ -306,7 +306,7 @@ components:
   type: nvidia::gxf::BlockMemoryPool
   parameters:
     storage_type: 1
-    block_size: 2211840 
+    block_size: 2211840
     num_blocks: 12
 - name: forward_pool
   type: nvidia::gxf::BlockMemoryPool
@@ -348,7 +348,7 @@ components:
     featnet_engine_file_path: "featnet_engine_file_path"
     featnet_input_layers_name: ["input.1"]
     featnet_output_layers_name: ["97"]
-  
+
     segnet_engine_file_path: "segnet_engine_file_path"
     segnet_input_layers_name: ["input.1"]
     segnet_output_layers_name: ["278"]
@@ -408,7 +408,7 @@ components:
   parameters:
     rx: rx
     tx: tx
---- 
+---
 name: bi3d_postprocess
 components:
 - name: pool
@@ -442,7 +442,7 @@ components:
     disparity_tensor_name: "disparity"
     disparity_values_tensor_name: "bi3d_inference_disparities"
 ---
-name: bi3d_output_vault
+name: bi3d_output_sink
 components:
 - name: input
   type: nvidia::gxf::DoubleBufferReceiver
@@ -453,12 +453,10 @@ components:
   parameters:
     receiver: input
     min_size: 1
-- name: vault
-  type: nvidia::gxf::Vault
+- name: sink
+  type: nvidia::isaac_ros::MessageRelay
   parameters:
     source: input
-    max_waiting_count: 1
-    drop_waiting: false
 ---
 components:
 - name: connection
@@ -556,7 +554,7 @@ components:
   type: nvidia::gxf::Connection
   parameters:
     source: bi3d_postprocess/data_transmitter
-    target: bi3d_output_vault/input
+    target: bi3d_output_sink/input
 ---
 name: scheduler
 components:
@@ -567,4 +565,3 @@ components:
     clock: clock
     worker_thread_number: 8
     stop_on_deadlock: false
-
diff --git a/isaac_ros_bi3d/gxf/bi3d/3dv/src/Bi3DPreProcessor.cpp b/isaac_ros_bi3d/gxf/bi3d/3dv/src/Bi3DPreProcessor.cpp
@@ -30,7 +30,7 @@
 
 namespace cvcore { namespace bi3d {
 
-struct Bi3DPreProcessor::Bi3DPreProcessorImpl
+struct Bi3DPreProcessor::Bi3DPreProcessorImpl 
 {
     mutable detail::InputImage m_leftImageDevice;
     mutable detail::InputImage m_rightImageDevice;
@@ -46,7 +46,7 @@ struct Bi3DPreProcessor::Bi3DPreProcessorImpl
     ImagePreProcessingParams m_preProcessorParams;
     ModelInputParams m_modelParams;
 
-    Bi3DPreProcessorImpl(const ImagePreProcessingParams & preProcessorParams,
+    Bi3DPreProcessorImpl(const ImagePreProcessingParams & preProcessorParams, 
                          const ModelInputParams & modelInputParams,
                          cudaStream_t stream)
         : m_preProcessorParams{preProcessorParams},
@@ -82,7 +82,7 @@ struct Bi3DPreProcessor::Bi3DPreProcessorImpl
 // Bi3D Frontend
 // =============================================================================
 
-Bi3DPreProcessor::Bi3DPreProcessor(const ImagePreProcessingParams & preProcessorParams,
+Bi3DPreProcessor::Bi3DPreProcessor(const ImagePreProcessingParams & preProcessorParams, 
                                    const ModelInputParams & modelInputParams,
                                    cudaStream_t stream)
   : m_pImpl{new Bi3DPreProcessorImpl(preProcessorParams, modelInputParams, stream)} {}
@@ -107,6 +107,7 @@ void Bi3DPreProcessor::execute(detail::PreprocessedImage & preprocessedLeftImage
     m_pImpl->resizeBuffers(leftImage.getWidth(), leftImage.getHeight());
 
     // Ensuring data is on the GPU
+    // FIXME: Rename so this is not confused with cvcore::Copy
     Copy(m_pImpl->m_leftImageDevice, leftImage, stream);
     Copy(m_pImpl->m_rightImageDevice, rightImage, stream);
 
@@ -144,6 +145,7 @@ void Bi3DPreProcessor::execute(detail::PreprocessedImage & preprocessedLeftImage
     // Ensuring the buffers are appropreately allocated
     m_pImpl->resizeBuffers(leftImage.getWidth(), leftImage.getHeight());
 
+    // FIXME: Rename so this is not confused with cvcore::Copy
     Copy(m_pImpl->m_preLeftImageDevice, leftImage, stream);
     Copy(m_pImpl->m_preRightImageDevice, rightImage, stream);
 

diff --git a/isaac_ros_bi3d/gxf/bi3d/cvcore/include/cv/tensor_ops/Errors.h b/isaac_ros_bi3d/gxf/bi3d/cvcore/include/cv/tensor_ops/Errors.h
@@ -22,6 +22,7 @@
 
 namespace cvcore { namespace tensor_ops {
 
+// TODO: Add doxygen style comments for each of the error codes
 enum class TensorOpsErrorCode : std::int32_t
 {
     SUCCESS = 0,

diff --git a/isaac_ros_bi3d/gxf/bi3d/cvcore/src/core/utility/ProfileUtils.cpp b/isaac_ros_bi3d/gxf/bi3d/cvcore/src/core/utility/ProfileUtils.cpp
@@ -66,6 +66,7 @@ std::string GetCPUName()
 #else
 std::string GetCPUName()
 {
+    // TODO: this will only work on linux platform
     std::ifstream cpuInfo("/proc/cpuinfo");
     if (!cpuInfo.good())
     {

diff --git a/isaac_ros_bi3d/gxf/bi3d/cvcore/src/tensor_ops/DBScan.cpp b/isaac_ros_bi3d/gxf/bi3d/cvcore/src/tensor_ops/DBScan.cpp
@@ -180,7 +180,7 @@ void DBScan::doClusterAndMerge(Array<BBox> &input, Array<BBox> &output, BBoxMerg
     doCluster(input, clusters);
     output.setSize(m_numClusters);
 
-    // merge bboxes based on different modes
+    // merge bboxes based on different modes (TODO: might add mininum/average in the future)
     if (type == MAXIMUM)
     {
         MergeMaximumBBoxes(input, clusters, output);

diff --git a/isaac_ros_bi3d/gxf/bi3d/cvcore/src/tensor_ops/vpi/VPITensorOperators.cpp b/isaac_ros_bi3d/gxf/bi3d/cvcore/src/tensor_ops/vpi/VPITensorOperators.cpp
@@ -101,7 +101,7 @@ std::error_code CreateVPIImageWrapperImpl(VPIImage &vpiImg, VPIImageData &imgdat
     return make_error_code(vpiStatus);
 }
 
-// helper function to wrap VPI image for planar image types
+// helper function to wrap VPI image for planar image types (TODO: not supported in vpi so far)
 template<ImageType T, typename std::enable_if<IsPlanarImage<T>::value>::type * = nullptr>
 std::error_code CreateVPIImageWrapperImpl(VPIImage &vpiImg, VPIImageData &imgdata, const Image<T> &cvcoreImage, VPIBackend backend)
 {
@@ -224,6 +224,7 @@ std::error_code DestroyVPIImageWrapper(VPIImage &image, VPIImageData &imageWrap)
 }
 std::error_code VPITensorStream::Status() noexcept
 {
+    // TODO Needs to be updated for supporting non blocking function calls.
     return ErrorCode::SUCCESS;
 }
 

diff --git a/isaac_ros_bi3d/gxf/bi3d/cvcore/src/trtbackend/TRTBackend.cpp b/isaac_ros_bi3d/gxf/bi3d/cvcore/src/trtbackend/TRTBackend.cpp
@@ -458,6 +458,7 @@ void TRTImpl::loadFromMemoryPointer(void *engine)
 
 void TRTImpl::setupIO(int batchSize)
 {
+    // @TODO: use getBindingDimensions to avoid re-setting the IO.
     m_bindingsCount = m_inferenceEngine->getNbBindings();
     for (int i = 0; i < m_bindingsCount; i++)
     {
@@ -542,6 +543,7 @@ void TRTBackend::infer(void **buffer)
 
 void TRTBackend::infer(void **buffer, int batchSize, cudaStream_t stream)
 {
+    //@TODO: fix kMin, kOpt, kMax batch size in SetupProfile() call and then add a check here.
     m_pImpl->setupIO(batchSize);
 
     bool success = true;

diff --git a/isaac_ros_bi3d/gxf/bi3d/extensions/tensor_ops/TensorOps.cpp b/isaac_ros_bi3d/gxf/bi3d/extensions/tensor_ops/TensorOps.cpp
@@ -30,46 +30,62 @@
 #include "gxf/std/extension_factory_helper.hpp"
 
 GXF_EXT_FACTORY_BEGIN()
-GXF_EXT_FACTORY_SET_INFO(0x6eae64ff97a94d9b, 0xb324f85e6a98a75a, "NvCvTensorOpsExtension",
-                         "Generic CVCORE tensor_ops interfaces", "Nvidia_Gxf", "3.1.0", "LICENSE");
+GXF_EXT_FACTORY_SET_INFO(
+  0x6eae64ff97a94d9b, 0xb324f85e6a98a75a, "NvCvTensorOpsExtension",
+  "Generic CVCORE tensor_ops interfaces", "Nvidia_Gxf", "3.1.0", "LICENSE");
 
-GXF_EXT_FACTORY_ADD(0xd073a92344ba4b81, 0xbd0f18f4996048e9, nvidia::cvcore::tensor_ops::CameraModel,
-                    nvidia::gxf::Component,
-                    "Construct Camera distortion model / Camera intrinsic compatible with CVCORE");
+GXF_EXT_FACTORY_ADD(
+  0xd073a92344ba4b82, 0xbd0f18f4996048e8, nvidia::cvcore::tensor_ops::CameraModel,
+  nvidia::gxf::Component,
+  "Construct Camera distortion model / Camera intrinsic compatible with CVCORE");
 
-GXF_EXT_FACTORY_ADD(0x6c9419223e4b4c2b, 0x899a4d65279c6507, nvidia::cvcore::tensor_ops::Frame3D, nvidia::gxf::Component,
-                    "Construct Camera extrinsic compatible with CVCORE");
+GXF_EXT_FACTORY_ADD(
+  0x6c9419223e4b4c2c, 0x899a4d65279c6508, nvidia::cvcore::tensor_ops::Frame3D,
+  nvidia::gxf::Component,
+  "Construct Camera extrinsic compatible with CVCORE");
 
-GXF_EXT_FACTORY_ADD(0xd94385e5b35b4634, 0x9adb0d214a3865f6, nvidia::cvcore::tensor_ops::TensorStream,
-                    nvidia::gxf::Component, "Wrapper of CVCORE ITensorOperatorStream/ITensorOperatorContext");
+GXF_EXT_FACTORY_ADD(
+  0xd94385e5b35b4635, 0x9adb0d214a3865f7, nvidia::cvcore::tensor_ops::TensorStream,
+  nvidia::gxf::Component, "Wrapper of CVCORE ITensorOperatorStream/ITensorOperatorContext");
 
-GXF_EXT_FACTORY_ADD(0xd0c4ddad486a4a91, 0xb69c8a5304b205ef, nvidia::cvcore::tensor_ops::ImageAdapter,
-                    nvidia::gxf::Component, "Utility component for conversion between message and cvcore image type");
+GXF_EXT_FACTORY_ADD(
+  0xd0c4ddad486a4a92, 0xb69c8a5304b205ea, nvidia::cvcore::tensor_ops::ImageAdapter,
+  nvidia::gxf::Component, "Utility component for conversion between message and cvcore image type");
 
-GXF_EXT_FACTORY_ADD(0xadebc792bd0b4a56, 0x99c1405fd2ea0727, nvidia::cvcore::tensor_ops::StreamUndistort,
-                    nvidia::gxf::Codelet, "Codelet for stream image undistortion in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0xadebc792bd0b4a57, 0x99c1405fd2ea0728, nvidia::cvcore::tensor_ops::StreamUndistort,
+  nvidia::gxf::Codelet, "Codelet for stream image undistortion in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0xa58141ac7eca4ea5, 0x9b545446fe379a11, nvidia::cvcore::tensor_ops::Resize, nvidia::gxf::Codelet,
-                    "Codelet for image resizing in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0xa58141ac7eca4ea6, 0x9b545446fe379a12, nvidia::cvcore::tensor_ops::Resize, nvidia::gxf::Codelet,
+  "Codelet for image resizing in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0xeb8b5f5b36d44b48, 0x81f959fd28e6f677, nvidia::cvcore::tensor_ops::StreamResize,
-                    nvidia::gxf::Codelet, "Codelet for stream image resizing in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0xeb8b5f5b36d44b49, 0x81f959fd28e6f678, nvidia::cvcore::tensor_ops::StreamResize,
+  nvidia::gxf::Codelet, "Codelet for stream image resizing in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0x4a7ff422de3841bc, 0x9e743ac10d9294b6, nvidia::cvcore::tensor_ops::CropAndResize,
-                    nvidia::gxf::Codelet, "Codelet for crop and resizing operation in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0x4a7ff422de3841bd, 0x9e743ac10d9294b7, nvidia::cvcore::tensor_ops::CropAndResize,
+  nvidia::gxf::Codelet, "Codelet for crop and resizing operation in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0x7018f0b9034c462b, 0xa9fbaf7ee012974f, nvidia::cvcore::tensor_ops::Normalize, nvidia::gxf::Codelet,
-                    "Codelet for image normalization in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0x7018f0b9034c462c, 0xa9fbaf7ee012974a, nvidia::cvcore::tensor_ops::Normalize,
+  nvidia::gxf::Codelet,
+  "Codelet for image normalization in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0x269d4237f3c3479d, 0xbcca9ecc44c71a70, nvidia::cvcore::tensor_ops::InterleavedToPlanar,
-                    nvidia::gxf::Codelet, "Codelet for convert interleaved image to planar image in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0x269d4237f3c3479e, 0xbcca9ecc44c71a71, nvidia::cvcore::tensor_ops::InterleavedToPlanar,
+  nvidia::gxf::Codelet, "Codelet for convert interleaved image to planar image in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0xfc4d7b4d8fcc4daa, 0xa286056e0fcafa78, nvidia::cvcore::tensor_ops::ConvertColorFormat,
-                    nvidia::gxf::Codelet, "Codelet for image color conversion in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0xfc4d7b4d8fcc4dab, 0xa286056e0fcafa79, nvidia::cvcore::tensor_ops::ConvertColorFormat,
+  nvidia::gxf::Codelet, "Codelet for image color conversion in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0x5ab4a4d8f7a34552, 0xa90be52660b076fd, nvidia::cvcore::tensor_ops::StreamConvertColorFormat,
-                    nvidia::gxf::Codelet, "Codelet for stream image color conversion in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0x5ab4a4d8f7a34553, 0xa90be52660b076fe, nvidia::cvcore::tensor_ops::StreamConvertColorFormat,
+  nvidia::gxf::Codelet, "Codelet for stream image color conversion in tensor_ops");
 
-GXF_EXT_FACTORY_ADD(0x26789b7d5a8d4e84, 0x86b845ec5f4cd12a, nvidia::cvcore::tensor_ops::Reshape, nvidia::gxf::Codelet,
-                    "Codelet for image reshape in tensor_ops");
+GXF_EXT_FACTORY_ADD(
+  0x26789b7d5a8d4e85, 0x86b845ec5f4cd12b, nvidia::cvcore::tensor_ops::Reshape, nvidia::gxf::Codelet,
+  "Codelet for image reshape in tensor_ops");
 GXF_EXT_FACTORY_END()
diff --git 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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Bi3D inference network for ROS</description>
 
   <maintainer email="[email protected]">Hemal Shah</maintainer>

diff --git a/isaac_ros_bi3d/src/bi3d_node.cpp b/isaac_ros_bi3d/src/bi3d_node.cpp
@@ -51,7 +51,7 @@ constexpr char INPUT_RIGHT_IMAGE_TOPIC_NAME[] = "right_image_bi3d";
 
 constexpr char INPUT_DISPARITY_COMPONENT_KEY[] = "disparity_roundrobin/data_receiver";
 
-constexpr char OUTPUT_BI3D_KEY[] = "bi3d_output_vault/vault";
+constexpr char OUTPUT_BI3D_KEY[] = "bi3d_output_sink/sink";
 constexpr char OUTPUT_BI3D_DEFAULT_TENSOR_FORMAT[] = "nitros_disparity_image_32FC1";
 constexpr char OUTPUT_BI3D_TOPIC_NAME[] = "bi3d_node/bi3d_output";
 

diff --git 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>0.30.0</version>
+  <version>0.31.0</version>
   <description>Isaac ROS Nitros Bi3D Inferece Param Array Type</description>
 
   <maintainer email="[email protected]">Hemal Shah</maintainer>

diff --git a/isaac_ros_nitros_bi3d_inference_param_array_type/test/config/test_forward_node.yaml b/isaac_ros_nitros_bi3d_inference_param_array_type/test/config/test_forward_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.
@@ -33,7 +33,7 @@ components:
     receiver: input
     min_size: 1
 ---
-name: vault
+name: sink
 components:
 - name: input
   type: nvidia::gxf::DoubleBufferReceiver
@@ -43,23 +43,22 @@ components:
   parameters:
     receiver: input
     min_size: 1
-- name: vault
-  type: nvidia::gxf::Vault
+- name: sink
+  type: nvidia::isaac_ros::MessageRelay
   parameters:
     source: input
-    max_waiting_count: 1
-    drop_waiting: false
 ---
 components:
 - type: nvidia::gxf::Connection
   parameters:
     source: forward/output
-    target: vault/input
+    target: sink/input
 ---
 components:
 - type: nvidia::gxf::GreedyScheduler
   parameters:
     clock: clock
     stop_on_deadlock: false
+    check_recession_period_us: 100
 - name: clock
   type: nvidia::gxf::RealtimeClock