Added Yolo Nas decoder

isaac_ros_rtdetr/CMakeLists.txt

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+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 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.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.22.1)
+project(isaac_ros_rtdetr LANGUAGES C CXX)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+ament_auto_find_build_dependencies()
+find_package(ament_cmake_python REQUIRED)
+
+# rtdetr Decoder node
+ament_auto_add_library(rtdetr_decoder_node SHARED src/rtdetr_decoder_node.cpp)
+rclcpp_components_register_nodes(rtdetr_decoder_node "nvidia::isaac_ros::rtdetr::RTDETRDecoderNode")
+set(node_plugins "${node_plugins}nvidia::isaac_ros::rtdetr::RTDETRDecoderNode;$<TARGET_FILE:rtdetr_decoder_node>\n")
+
+target_link_libraries(rtdetr_decoder_node ${OpenCV_LIBRARIES})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+
+  # The FindPythonInterp and FindPythonLibs modules are removed
+  if(POLICY CMP0148)
+    cmake_policy(SET CMP0148 OLD)
+  endif()
+
+  find_package(launch_testing_ament_cmake REQUIRED)
+endif()
+
+# Visualizer python scripts
+
+
+
+ament_auto_package(INSTALL_TO_SHARE launch)

isaac_ros_rtdetr/include/isaac_ros_rtdetr/rtdetr_decoder_node.hpp

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+// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+// Copyright (c) 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.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// 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.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#ifndef ISAAC_ROS_YOLOV8__YOLOV8_DECODER_NODE_HPP_
+#define ISAAC_ROS_YOLOV8__YOLOV8_DECODER_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "isaac_ros_managed_nitros/managed_nitros_subscriber.hpp"
+
+#include "std_msgs/msg/string.hpp"
+#include "vision_msgs/msg/detection2_d_array.hpp"
+#include "isaac_ros_nitros_tensor_list_type/nitros_tensor_list_view.hpp"
+
+namespace nvidia
+{
+namespace isaac_ros
+{
+namespace rtdetr
+{
+
+class RTDETRDecoderNode : public rclcpp::Node
+{
+public:
+  explicit RTDETRDecoderNode(const rclcpp::NodeOptions options = rclcpp::NodeOptions());
+
+  ~RTDETRDecoderNode();
+
+private:
+  void InputCallback(const nvidia::isaac_ros::nitros::NitrosTensorListView & msg);
+
+  // Subscription to input NitrosTensorList messages
+  std::shared_ptr<nvidia::isaac_ros::nitros::ManagedNitrosSubscriber<
+      nvidia::isaac_ros::nitros::NitrosTensorListView>> nitros_sub_;
+
+  // Publisher for output Detection2DArray messages
+  rclcpp::Publisher<vision_msgs::msg::Detection2DArray>::SharedPtr pub_;
+
+  // Name of tensor in NitrosTensorList
+  std::string tensor_conf_name_{};
+  std::string tensor_bboxes_name_{};
+  std::string tensor_labels_name_{};
+
+  double confidence_threshold_;
+
+};
+
+}  // namespace rtdetr
+}  // namespace isaac_ros
+}  // namespace nvidia
+
+#endif  // ISAAC_ROS_YOLOV8__YOLOV8_DECODER_NODE_HPP_

isaac_ros_rtdetr/isaac_ros_yolonas/__init__.py

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+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 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.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0

isaac_ros_rtdetr/launch/isaac_ros_yolov8_visualize.launch.py

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+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 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.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    my_package_dir = get_package_share_directory('isaac_ros_rtdetr')
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                my_package_dir, 'launch'),
+                '/rtdetr_tensor_rt.launch.py'])
+        ),
+        Node(
+            package='isaac_ros_rtdetr',
+            executable='isaac_ros_rtdetr_visualizer.py',
+            name='rtdetr_visualizer'
+        ),
+        Node(
+            package='rqt_image_view',
+            executable='rqt_image_view',
+            name='image_view',
+            arguments=['/rtdetr_processed_image']
+        )
+    ])

isaac_ros_rtdetr/launch/yolov8_tensor_rt.launch.py

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+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 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.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import launch
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    """Generate launch description for TensorRT ROS 2 node."""
+    # By default loads and runs mobilenetv2-1.0 included in isaac_ros_dnn_inference/models
+    launch_args = [
+        DeclareLaunchArgument(
+            'model_file_path',
+            default_value='',
+            description='The absolute file path to the ONNX file'),
+        DeclareLaunchArgument(
+            'engine_file_path',
+            default_value='',
+            description='The absolute file path to the TensorRT engine file'),
+        DeclareLaunchArgument(
+            'input_tensor_names',
+            default_value='["input_tensor"]',
+            description='A list of tensor names to bound to the specified input binding names'),
+        DeclareLaunchArgument(
+            'input_binding_names',
+            default_value='[""]',
+            description='A list of input tensor binding names (specified by model)'),
+        DeclareLaunchArgument(
+            'output_tensor_names',
+            default_value='["output_tensor"]',
+            description='A list of tensor names to bound to the specified output binding names'),
+        DeclareLaunchArgument(
+            'output_binding_names',
+            default_value='[""]',
+            description='A list of output tensor binding names (specified by model)'),
+        DeclareLaunchArgument(
+            'verbose',
+            default_value='False',
+            description='Whether TensorRT should verbosely log or not'),
+        DeclareLaunchArgument(
+            'force_engine_update',
+            default_value='False',
+            description='Whether TensorRT should update the TensorRT engine file or not'),
+    ]
+
+    # DNN Image Encoder parameters
+    input_image_width = LaunchConfiguration('input_image_width')
+    input_image_height = LaunchConfiguration('input_image_height')
+    network_image_width = LaunchConfiguration('network_image_width')
+    network_image_height = LaunchConfiguration('network_image_height')
+    image_mean = LaunchConfiguration('image_mean')
+    image_stddev = LaunchConfiguration('image_stddev')
+
+    # TensorRT parameters
+    model_file_path = LaunchConfiguration('model_file_path')
+    engine_file_path = LaunchConfiguration('engine_file_path')
+    input_tensor_names = LaunchConfiguration('input_tensor_names')
+    input_binding_names = LaunchConfiguration('input_binding_names')
+    output_tensor_names = LaunchConfiguration('output_tensor_names')
+    output_binding_names = LaunchConfiguration('output_binding_names')
+    verbose = LaunchConfiguration('verbose')
+    force_engine_update = LaunchConfiguration('force_engine_update')
+
+    # YOLOv8 Decoder parameters
+    confidence_threshold = LaunchConfiguration('confidence_threshold')
+    nms_threshold = LaunchConfiguration('nms_threshold')
+
+    encoder_node = ComposableNode(
+        name='dnn_image_encoder',
+        package='isaac_ros_dnn_image_encoder',
+        plugin='nvidia::isaac_ros::dnn_inference::DnnImageEncoderNode',
+        remappings=[('encoded_tensor', 'tensor_pub')],
+        parameters=[{
+            'input_image_width': input_image_width,
+            'input_image_height': input_image_height,
+            'network_image_width': network_image_width,
+            'network_image_height': network_image_height,
+            'image_mean': image_mean,
+            'image_stddev': image_stddev,
+        }]
+    )
+
+    tensor_rt_node = ComposableNode(
+        name='tensor_rt',
+        package='isaac_ros_tensor_rt',
+        plugin='nvidia::isaac_ros::dnn_inference::TensorRTNode',
+        parameters=[{
+            'model_file_path': model_file_path,
+            'engine_file_path': engine_file_path,
+            'output_binding_names': output_binding_names,
+            'output_tensor_names': output_tensor_names,
+            'input_tensor_names': input_tensor_names,
+            'input_binding_names': input_binding_names,
+            'verbose': verbose,
+            'force_engine_update': force_engine_update
+        }]
+    )
+
+    rtdetr_decoder_node = ComposableNode(
+        name='rtdetr_decoder_node',
+        package='isaac_ros_rtdetr',
+        plugin='nvidia::isaac_ros::rtdetr::RTDETRDecoderNode',
+        parameters=[{
+            'confidence_threshold': confidence_threshold,
+            'nms_threshold': nms_threshold,
+        }]
+    )
+
+    tensor_rt_container = ComposableNodeContainer(
+        name='tensor_rt_container',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[encoder_node, tensor_rt_node, rtdetr_decoder_node],
+        output='screen',
+        arguments=['--ros-args', '--log-level', 'INFO'],
+        namespace=''
+    )
+
+    final_launch_description = launch_args + [tensor_rt_container]
+    return launch.LaunchDescription(final_launch_description)

isaac_ros_rtdetr/launch_commands.md

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+# Custom Nitros YOLOv8
+
+This sample shows how to use your custom model decoder with Isaac ROS Managed Nitros. We consider the task of Object Detection using YOLOv8 with [Isaac ROS DNN Inference](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference). 
+
+### Launch the image publisher in Terminal 1:
+```
+ros2 run image_publisher image_publisher_node <path-to-image> --ros-args --remap /image_raw:=/image` 
+```
+
+For example (sample image people_cycles.jpg provided in this repo):
+```
+ros2 run image_publisher image_publisher_node people_cycles.jpg --ros-args --remap /image_raw:=/image
+```
+
+### Launch the inference graph in Terminal 2:
+```
+ros2 launch isaac_ros_rtdetr rtdetr_tensor_rt.launch.py engine_file_path:=rtdetrs_fp16.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 model_file_path:=rtdetrs_fp16.onnx force_engine_update:=False image_mean:=[0.485,0.456,0.406] image_stddev:=[0.229,0.224,0.225] input_image_width:=640 input_image_height:=640
+```
+
+Results will be published to `/detections_output` as Detection2DArray messages.
+
+## Visualizing results:
+```
+ros2 launch isaac_ros_rtdetr isaac_ros_rtdetr_visualize.launch.py engine_file_path:=rtdetrs_fp16.plan input_binding_names:=['images'] output_binding_names:=['output0'] network_image_width:=640 network_image_height:=640 model_file_path:=rtdetrs_fp16.onnx force_engine_update:=False image_mean:=[0.485,0.456,0.406] image_stddev:=[0.229,0.224,0.225] input_image_width:=640 input_image_height:=640
+```
+
+An RQT image window will pop up to display resulting bounding boxes on the input image. These output images are published on the `/rtdetr_processed_image` topic.