Isaac ROS 0.30.0 (DP3)

.gitattributes

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+# Images
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.psd filter=lfs diff=lfs merge=lfs -text
+
+# Archives
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+
+# Documents
+*.pdf filter=lfs diff=lfs merge=lfs -text
+
+# Shared libraries
+*.so filter=lfs diff=lfs merge=lfs -text
+*.so.* filter=lfs diff=lfs merge=lfs -text
+
+# ROS Bags
+**/resources/**/*.db3 filter=lfs diff=lfs merge=lfs -text
+**/resources/**/*.yaml filter=lfs diff=lfs merge=lfs -text
+ros2_benchmark/test/pol.bag/pol.bag_0.db3 filter=lfs diff=lfs merge=lfs -text
+ros2_benchmark/test/pol.bag/pol.bag_0.db3.zstd filter=lfs diff=lfs merge=lfs -text
+ros2_benchmark/test/pol.bag/metadata.yaml filter=lfs diff=lfs merge=lfs -text

.gitignore

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+# Ignore all pycache files
+**/__pycache__/**

CONTRIBUTING.md

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+# Isaac ROS Contribution Rules
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+> **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+
+[//]: # (202201002)

LICENSE

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+
                                  Apache License
                            Version 2.0, January 2004
                         http://www.apache.org/licenses/
@@ -198,4 +199,4 @@
    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.
+   limitations under the License.

assets/datasets/.gitignore

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+*
+!.gitignore

assets/models/.gitignore

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+*
+!.gitignore

results/apriltag_ros_apriltag_graph-agx_orin.json

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+{"BasicPerformanceMetrics.RECEIVED_DURATION": 4973.809163411458, "BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 56.293519763104854, "BasicPerformanceMetrics.MEAN_FRAME_RATE": 56.29364691516963, "BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0.0, "BasicPerformanceMetrics.NUM_FRAMES_SENT": 280.0, "BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 21.661539713541668, "BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 21.520670572916668, "BasicPerformanceMetrics.MAX_JITTER": 5.090576171875, "BasicPerformanceMetrics.MIN_JITTER": 0.005615234375, "BasicPerformanceMetrics.MEAN_JITTER": 1.0091262927158273, "BasicPerformanceMetrics.STD_DEV_JITTER": 0.5661209040349534, "CPUProfilingMetrics.MAX_CPU_UTIL": 36.40833333333334, "CPUProfilingMetrics.MIN_CPU_UTIL": 0.4166666666666667, "CPUProfilingMetrics.MEAN_CPU_UTIL": 22.194999999999997, "CPUProfilingMetrics.STD_DEV_CPU_UTIL": 4.682915076352002, "CPUProfilingMetrics.BASELINE_CPU_UTIL": 23.91388888888889, "10.0fps": {"BasicPerformanceMetrics.RECEIVED_DURATION": 4899.922119140625, "BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 10.203902673900808, "BasicPerformanceMetrics.MEAN_FRAME_RATE": 10.204243819444477, "BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0, "BasicPerformanceMetrics.NUM_FRAMES_SENT": 50, "BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 21.575439453125, "BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 21.41162109375, "BasicPerformanceMetrics.MAX_JITTER": 2.58447265625, "BasicPerformanceMetrics.MIN_JITTER": 0.1337890625, "BasicPerformanceMetrics.MEAN_JITTER": 1.1052958170572917, "BasicPerformanceMetrics.STD_DEV_JITTER": 0.6023109287697815, "CPUProfilingMetrics.MAX_CPU_UTIL": 6.8500000000000005, "CPUProfilingMetrics.MIN_CPU_UTIL": 5.375, "CPUProfilingMetrics.MEAN_CPU_UTIL": 6.043333333333334, "CPUProfilingMetrics.STD_DEV_CPU_UTIL": 0.5149811215525826, "CPUProfilingMetrics.BASELINE_CPU_UTIL": 6.8500000000000005}, "30.0fps": {"BasicPerformanceMetrics.RECEIVED_DURATION": 4966.563232421875, "BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 30.200734609275045, "BasicPerformanceMetrics.MEAN_FRAME_RATE": 30.201971258675506, "BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0, "BasicPerformanceMetrics.NUM_FRAMES_SENT": 150, "BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 21.620361328125, "BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 21.4169921875, "BasicPerformanceMetrics.MAX_JITTER": 4.22412109375, "BasicPerformanceMetrics.MIN_JITTER": 0.027099609375, "BasicPerformanceMetrics.MEAN_JITTER": 1.0710911106418919, "BasicPerformanceMetrics.STD_DEV_JITTER": 0.558111741196166, "CPUProfilingMetrics.MAX_CPU_UTIL": 13.883333333333335, "CPUProfilingMetrics.MIN_CPU_UTIL": 11.016666666666666, "CPUProfilingMetrics.MEAN_CPU_UTIL": 12.371666666666666, "CPUProfilingMetrics.STD_DEV_CPU_UTIL": 0.9341603478822881, "CPUProfilingMetrics.BASELINE_CPU_UTIL": 12.625}, "custom": {"data_resolution": "HD (1280,720)"}, "metadata": {"BenchmarkMetadata.NAME": "apriltag_ros AprilTag Graph Benchmark", "BenchmarkMetadata.TEST_FILE_PATH": "/workspaces/isaac_ros-dev/ros_ws/src/ros2_benchmark/scripts/apriltag_ros_apriltag_graph.py", "BenchmarkMetadata.TEST_DATETIME": "2023-04-04T07:37:54Z", "BenchmarkMetadata.DEVICE_HOSTNAME": "ros", "BenchmarkMetadata.DEVICE_ARCH": "aarch64", "BenchmarkMetadata.DEVICE_OS": "Linux 5.10.104-tegra #1 SMP PREEMPT Sun Mar 19 07:55:28 PDT 2023", "BenchmarkMetadata.BENCHMARK_MODE": 1, "BenchmarkMetadata.PEAK_THROUGHPUT_PREDICTION": 56.09375, "BenchmarkMetadata.INPUT_DATA_PATH": "/workspaces/isaac_ros-dev/ros_ws/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage", "BenchmarkMetadata.INPUT_DATA_SIZE": 3087908864, "BenchmarkMetadata.INPUT_DATA_HASH": "5e8f11201fe10dbac7307a8628553e94", "BenchmarkMetadata.INPUT_DATA_START_TIME": 3.0, "BenchmarkMetadata.INPUT_DATA_END_TIME": 3.5, "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/ros_ws/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  cpu_profiling_interval_sec: 1.0\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_cpu_profiler: true\n  enforce_publisher_rate: 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: 0.01\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: /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: start_monitoring0\n  play_messages_service_future_timeout_sec: 15.0\n  playback_message_buffer_size: 10\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  revise_timestamps_as_message_ids: false\n  set_data_service_future_timeout_sec: 60.0\n  setup_service_client_timeout_sec: 20.0\n  start_monitoring_service_timeout_sec: 10\n  start_recording_service_future_timeout_sec: 35.0\n  start_recording_service_timeout_sec: 30\n  test_iterations: 5\n"}}

results/apriltag_ros_apriltag_graph-agx_xavier.json

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+{"BasicPerformanceMetrics.RECEIVED_DURATION": 4983.506754557292, "BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 37.85646957181185, "BasicPerformanceMetrics.MEAN_FRAME_RATE": 36.49659839755778, "BasicPerformanceMetrics.NUM_MISSED_FRAMES": 6.0, "BasicPerformanceMetrics.NUM_FRAMES_SENT": 188.0, "BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 32.607421875, "BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 49.900472005208336, "BasicPerformanceMetrics.MAX_JITTER": 6.442138671875, "BasicPerformanceMetrics.MIN_JITTER": 0.00439453125, "BasicPerformanceMetrics.MEAN_JITTER": 1.216977267795139, "BasicPerformanceMetrics.STD_DEV_JITTER": 0.9891846444706426, "CPUProfilingMetrics.MAX_CPU_UTIL": 29.275, "CPUProfilingMetrics.MIN_CPU_UTIL": 0.625, "CPUProfilingMetrics.MEAN_CPU_UTIL": 14.544583333333335, "CPUProfilingMetrics.STD_DEV_CPU_UTIL": 12.699829382737507, "CPUProfilingMetrics.BASELINE_CPU_UTIL": 26.92083333333333, "10.0fps": {"BasicPerformanceMetrics.RECEIVED_DURATION": 4901.582275390625, "BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 10.203788285941437, "BasicPerformanceMetrics.MEAN_FRAME_RATE": 10.20078766218717, "BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0, "BasicPerformanceMetrics.NUM_FRAMES_SENT": 50, "BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 31.6962890625, "BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 33.1376953125, "BasicPerformanceMetrics.MAX_JITTER": 6.69775390625, "BasicPerformanceMetrics.MIN_JITTER": 0.045166015625, "BasicPerformanceMetrics.MEAN_JITTER": 2.6316019694010415, "BasicPerformanceMetrics.STD_DEV_JITTER": 1.457161986967299, "CPUProfilingMetrics.MAX_CPU_UTIL": 11.0375, "CPUProfilingMetrics.MIN_CPU_UTIL": 5.949999999999999, "CPUProfilingMetrics.MEAN_CPU_UTIL": 7.6049999999999995, "CPUProfilingMetrics.STD_DEV_CPU_UTIL": 1.7884455541055757, "CPUProfilingMetrics.BASELINE_CPU_UTIL": 11.0375}, "30.0fps": {"BasicPerformanceMetrics.RECEIVED_DURATION": 4965.3896484375, "BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 30.200255119407746, "BasicPerformanceMetrics.MEAN_FRAME_RATE": 30.209109580594895, "BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0, "BasicPerformanceMetrics.NUM_FRAMES_SENT": 150, "BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 32.809326171875, "BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 31.353515625, "BasicPerformanceMetrics.MAX_JITTER": 12.767578125, "BasicPerformanceMetrics.MIN_JITTER": 0.048095703125, "BasicPerformanceMetrics.MEAN_JITTER": 2.345127415012669, "BasicPerformanceMetrics.STD_DEV_JITTER": 1.8379051823035286, "CPUProfilingMetrics.MAX_CPU_UTIL": 31.5125, "CPUProfilingMetrics.MIN_CPU_UTIL": 22.2125, "CPUProfilingMetrics.MEAN_CPU_UTIL": 24.745, "CPUProfilingMetrics.STD_DEV_CPU_UTIL": 3.4274407361761927, "CPUProfilingMetrics.BASELINE_CPU_UTIL": 23.887500000000003}, "custom": {"data_resolution": "HD (1280,720)"}, "metadata": {"BenchmarkMetadata.NAME": "apriltag_ros AprilTag Graph Benchmark", "BenchmarkMetadata.TEST_FILE_PATH": "/workspaces/isaac_ros-dev/ros_ws/src/ros2_benchmark/scripts/apriltag_ros_apriltag_graph.py", "BenchmarkMetadata.TEST_DATETIME": "2023-04-04T07:46:08Z", "BenchmarkMetadata.DEVICE_HOSTNAME": "ros", "BenchmarkMetadata.DEVICE_ARCH": "aarch64", "BenchmarkMetadata.DEVICE_OS": "Linux 5.10.104-tegra #1 SMP PREEMPT Sun Mar 19 07:55:28 PDT 2023", "BenchmarkMetadata.BENCHMARK_MODE": 1, "BenchmarkMetadata.PEAK_THROUGHPUT_PREDICTION": 37.65625, "BenchmarkMetadata.INPUT_DATA_PATH": "/workspaces/isaac_ros-dev/ros_ws/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage", "BenchmarkMetadata.INPUT_DATA_SIZE": 3087908864, "BenchmarkMetadata.INPUT_DATA_HASH": "5e8f11201fe10dbac7307a8628553e94", "BenchmarkMetadata.INPUT_DATA_START_TIME": 3.0, "BenchmarkMetadata.INPUT_DATA_END_TIME": 3.5, "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/ros_ws/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  cpu_profiling_interval_sec: 1.0\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_cpu_profiler: true\n  enforce_publisher_rate: 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: 0.01\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: /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: start_monitoring0\n  play_messages_service_future_timeout_sec: 15.0\n  playback_message_buffer_size: 10\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  revise_timestamps_as_message_ids: false\n  set_data_service_future_timeout_sec: 60.0\n  setup_service_client_timeout_sec: 20.0\n  start_monitoring_service_timeout_sec: 10\n  start_recording_service_future_timeout_sec: 35.0\n  start_recording_service_timeout_sec: 30\n  test_iterations: 5\n"}}