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Merge pull request #69 from NVIDIA-ISAAC-ROS/release-3.2
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Update package versions
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@jaiveersinghNV
jaiveersinghNV authored Feb 14, 2025
2 parents 3cc6704 + f8ec45d commit 7cf903f
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10 changes: 5 additions & 5 deletions README.md
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Expand Up @@ -6,7 +6,7 @@ Deep learned, NVIDIA-accelerated 3D object pose estimation

## Overview

[Isaac ROS Pose Estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation) contains
Isaac ROS Pose Estimation contains
three ROS 2 packages to predict the pose of an object. Please refer the following table to see the differences of them:

| Node | Novel Object wo/ Retraining | TAO Support | Speed | Quality | Maturity |
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## 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 4090<br/><br/> |
| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/> | Orin Nano Super 8GB<br/><br/> | x86_64 w/ RTX 4090<br/><br/> |
|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [FoundationPose Pose Estimation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_foundationpose_benchmark/scripts/isaac_ros_foundationpose_node.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [1.72 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_foundationpose_node-agx_orin.json)<br/><br/><br/>690 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | –<br/><br/><br/><br/> | [9.61 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_foundationpose_node-x86-4090.json)<br/><br/><br/>110 ms @ 30Hz<br/><br/> |
| [DOPE Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dope_benchmark/scripts/isaac_ros_dope_graph.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [27.7 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-agx_orin.json)<br/><br/><br/>16 ms @ 30Hz<br/><br/> | [17.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-orin_nx.json)<br/><br/><br/>14 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | [187 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-x86-4090.json)<br/><br/><br/>7.8 ms @ 30Hz<br/><br/> |
| [Centerpose Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_centerpose_benchmark/scripts/isaac_ros_centerpose_graph.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [47.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-agx_orin.json)<br/><br/><br/>6.5 ms @ 30Hz<br/><br/> | [30.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nx.json)<br/><br/><br/>50 ms @ 30Hz<br/><br/> | [19.9 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nano.json)<br/><br/><br/>28 ms @ 30Hz<br/><br/> | [50.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-x86-4090.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> |
| [FoundationPose Pose Estimation Node](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_foundationpose_benchmark/scripts/isaac_ros_foundationpose_node.py)<br/><br/><br/><br/> | 720p<br/><br/><br/><br/> | [1.54 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_foundationpose_node-agx_orin.json)<br/><br/><br/>780 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | –<br/><br/><br/><br/> | [9.56 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_foundationpose_node-x86-4090.json)<br/><br/><br/>110 ms @ 30Hz<br/><br/> |
| [DOPE Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_dope_benchmark/scripts/isaac_ros_dope_graph.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [27.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-agx_orin.json)<br/><br/><br/>54 ms @ 30Hz<br/><br/> | [15.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-orin_nx.json)<br/><br/><br/>73 ms @ 30Hz<br/><br/> | –<br/><br/><br/><br/> | [186 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_dope_graph-x86-4090.json)<br/><br/><br/>12 ms @ 30Hz<br/><br/> |
| [Centerpose Pose Estimation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_centerpose_benchmark/scripts/isaac_ros_centerpose_graph.py)<br/><br/><br/><br/> | VGA<br/><br/><br/><br/> | [44.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-agx_orin.json)<br/><br/><br/>43 ms @ 30Hz<br/><br/> | [29.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nx.json)<br/><br/><br/>51 ms @ 30Hz<br/><br/> | [29.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-orin_nano.json)<br/><br/><br/>50 ms @ 30Hz<br/><br/> | [50.2 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_centerpose_graph-x86-4090.json)<br/><br/><br/>14 ms @ 30Hz<br/><br/> |

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2 changes: 1 addition & 1 deletion isaac_ros_centerpose/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros_centerpose</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>CenterPose: Pose Estimation using Deep Learning</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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2 changes: 1 addition & 1 deletion isaac_ros_dope/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros_dope</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>Deep learning based pose estimation</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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2 changes: 1 addition & 1 deletion isaac_ros_foundationpose/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros_foundationpose</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>FoundationPose 6D pose estimation</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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2 changes: 1 addition & 1 deletion isaac_ros_gxf_extensions/gxf_isaac_centerpose/package.xml
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Expand Up @@ -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>gxf_isaac_centerpose</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>GXF extension containing CenterPose pose estimation related components.</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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2 changes: 1 addition & 1 deletion isaac_ros_gxf_extensions/gxf_isaac_dope/package.xml
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Expand Up @@ -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>gxf_isaac_dope</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>GXF extension containing CenterPose pose estimation related components.</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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2 changes: 1 addition & 1 deletion isaac_ros_gxf_extensions/gxf_isaac_foundationpose/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>gxf_isaac_foundationpose</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>GXF extension containing Foundation Pose estimation related components.</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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2 changes: 1 addition & 1 deletion isaac_ros_pose_proc/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>isaac_ros_pose_proc</name>
<version>3.2.0</version>
<version>3.2.4</version>
<description>Pose filtering and processing</description>

<maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
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