Merge pull request #9 from NVIDIA-ISAAC-ROS/release-2.1

Isaac ROS 2.1.0

README.md

@@ -6,14 +6,13 @@ Hardware-accelerated data compression.
 
 ## Overview
 
-[Isaac ROS Compression](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_compression) provides an H.264 image encoder and decoder that
-leverages the specialized hardware in NVIDIA GPUs and the
+[Isaac ROS Compression](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_compression) provides H.264 image encoder
+and decoder that leverages the specialized hardware in NVIDIA GPUs and the
 [Jetson](https://developer.nvidia.com/embedded-computing) platform.
 The `isaac_ros_h264_encoder` package can compress an image into H.264
-data using the NVENC on the Jetson platform. The
+data using the NVENC. The
 `isaac_ros_h264_decoder` package can decode the H.264 data into
-original images using the NVDEC on the Jetson and x86 platform with
-NVIDIA GPUs.
+original images using the NVDEC.
 
 Image compression reduces the data footprint of images when written to
 storage or transmitted between computers. A 1080p camera at 30fps
@@ -42,8 +41,8 @@ debugging of the event or to improve perception and robot functions.
 
 [H.264](https://en.wikipedia.org/wiki/Advanced_Video_Coding) is an
 efficient and popular compression algorithm with broad support across
-many platforms. The output of the `isaac_ros_h264_encoder` package on
-Jetson can then be decoded with hardware acceleration using the
+many platforms. The output of the `isaac_ros_h264_encoder` package can then
+be decoded with hardware acceleration using the
 `isaac_ros_h264_decoder` on Jetson and x86_64 systems, or by
 third-party H.264 decoder packages on non-NVIDIA platforms.
 
@@ -88,4 +87,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2023-10-18: Added support on `x86_64` for `isaac_ros_h264_encoder` and `aarch64` for `isaac_ros_h264_decoder`.
+Update 2023-10-18: Added support on `x86_64` for `isaac_ros_h264_encoder`.

isaac_ros_h264_decoder/config/nitros_decoder_node.yaml

@@ -60,6 +60,10 @@ components:
     outbuf_storage_type: 1
 - name: async_st
   type: nvidia::gxf::AsynchronousSchedulingTerm
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: color_converter
 components:
@@ -98,6 +102,10 @@ components:
     output_adapter: global/adapter
     output_name: "image"
     stream: global/stream
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: global
 components:

isaac_ros_h264_decoder/package.xml

@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_h264_decoder</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>H.264 Decoder</description>
 
   <maintainer email="[email protected]">Yuankun Zhu</maintainer>

isaac_ros_h264_encoder/config/nitros_encoder_node.yaml

@@ -53,6 +53,10 @@ components:
     output_adapter: global/adapter
     output_name: "image"
     stream: global/stream
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: global
 components:
@@ -121,6 +125,10 @@ components:
     pool: pool
 - name: async_st
   type: nvidia::gxf::AsynchronousSchedulingTerm
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: sink
 components:

isaac_ros_h264_encoder/package.xml

@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_h264_encoder</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>H.264 Encoder</description>
 
   <maintainer email="[email protected]">Yuankun Zhu</maintainer>

utils/isaac_ros_to_h264_msgs_packet/package.xml

@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_to_h264_msgs_packet</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Reformat compressed message to h264_msgs::Packet</description>
 
   <maintainer email="[email protected]">Hemal Shah</maintainer>