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Merge pull request #28 from NVIDIA-ISAAC-ROS/release-3.2
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Isaac ROS 3.2
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@jaiveersinghNV
jaiveersinghNV authored Dec 11, 2024
2 parents 4c71172 + 2c78425 commit 0630947
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -82,7 +82,7 @@ To use and learn to use `ros2_benchmark`, start by running a sample benchmark. F
git clone https://github.com/christianrauch/apriltag_ros.git && \
cd $R2B_WS_HOME && \
sudo apt-get update && \
rosdep install -i -r --from-paths src --rosdistro humble -y
rosdep update && rosdep install -i -r --from-paths src --rosdistro humble -y
```

4. Clone and build `image_proc` package with patch to fix incompatible QoS settings.
Expand All @@ -97,7 +97,7 @@ To use and learn to use `ros2_benchmark`, start by running a sample benchmark. F
git apply resize_qos_profile.patch && \
cd $R2B_WS_HOME && \
sudo apt-get update && \
rosdep install -i -r --from-paths src --rosdistro humble -y && \
rosdep update && rosdep install -i -r --from-paths src --rosdistro humble -y && \
colcon build --packages-up-to image_proc
```

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143 changes: 91 additions & 52 deletions results/apriltag_ros_apriltag_graph-agx_orin.json
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@@ -1,74 +1,113 @@
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"BenchmarkMetadata.CONFIG": "ros2_benchmark_config:\n additional_fixed_publisher_rate_tests:\n - 10.0\n - 30.0\n - 60.0\n assets_root: /workspaces/isaac_ros-dev/src/ros2_benchmark/assets\n benchmark_duration: 5.0\n benchmark_mode: BenchmarkMode.LOOPING\n benchmark_name: apriltag_ros AprilTag Graph Benchmark\n benchmark_namespace: r2b\n binary_search_acceptable_frame_loss_fraction: 0.05\n binary_search_acceptable_frame_rate_drop: 10.0\n binary_search_duration_fraction: 1.0\n binary_search_terminal_interval_width: 10.0\n collect_start_timestamps_from_monitors: false\n custom_report_info:\n data_resolution: Resolution(1280, 720, HD)\n default_config_version: 0.30.0\n default_service_future_timeout_sec: 15.0\n enable_resource_profiler: true\n enable_trial_buffer_preparation: false\n enforce_publisher_rate: false\n export_monitor_raw_data: false\n input_data_end_time: 3.5\n input_data_path: datasets/r2b_dataset/r2b_storage\n input_data_start_time: 3.0\n linear_scan_acceptable_frame_loss_fraction: 0.05\n linear_scan_acceptable_frame_rate_drop: 5.0\n linear_scan_duration_fraction: 1.0\n linear_scan_step_size: 5.0\n load_data_in_real_time: false\n log_file_name: kpi.json\n log_folder: /osmo/data/output\n monitor_info_list:\n - calculators:\n - class_name: BasicPerformanceCalculator\n config:\n report_prefix: ''\n module_name: ros2_benchmark.basic_performance_calculator\n service_name: monitor_node0\n play_messages_service_future_timeout_sec: 15.0\n playback_message_buffer_size: 10\n post_trial_run_wait_time_sec: 0.0\n pre_stop_monitoring_wait_time_sec: 5.0\n pre_trial_run_wait_time_sec: 0.0\n publish_tf_messages_in_set_data: false\n publish_tf_static_messages_in_set_data: false\n publisher_lower_frequency: 10.0\n publisher_upper_frequency: 600.0\n record_data_timeline: false\n resource_profiling_interval_sec: 0.01\n revise_timestamps_as_message_ids: false\n ros1_ws: /workspaces/isaac_ros-dev/isaac_ros_1-dev\n set_data_service_future_timeout_sec: 60.0\n setup_service_client_timeout_sec: 20.0\n start_recording_service_future_timeout_sec: 35.0\n start_recording_service_timeout_sec: 30\n test_iterations: 5\n"
}
}
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