From 8414c8a92fa9907e9ee5875a494afbaead9de5cb Mon Sep 17 00:00:00 2001
From: Jaiveer Singh <jaiveers@nvidia.com>
Date: Fri, 27 Sep 2024 05:23:42 +0000
Subject: [PATCH] Isaac ROS 3.1

---
 README.md                                    |  2 +-
 gxf_isaac_detectnet/package.xml              |  2 +-
 isaac_ros_detectnet/config/zed2_config.pbtxt | 29 ++++++++++++++++++++
 isaac_ros_detectnet/config/zedx_config.pbtxt | 29 ++++++++++++++++++++
 isaac_ros_detectnet/package.xml              |  2 +-
 isaac_ros_rtdetr/package.xml                 |  2 +-
 isaac_ros_yolov8/package.xml                 |  2 +-
 7 files changed, 63 insertions(+), 5 deletions(-)
 create mode 100644 isaac_ros_detectnet/config/zed2_config.pbtxt
 create mode 100644 isaac_ros_detectnet/config/zedx_config.pbtxt

diff --git a/README.md b/README.md
index 1929e67..7deab70 100644
--- a/README.md
+++ b/README.md
@@ -97,4 +97,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-05-30: Added RT-DETR object detection package
+Update 2024-09-26: Update for ZED compatibility
diff --git a/gxf_isaac_detectnet/package.xml b/gxf_isaac_detectnet/package.xml
index 0d2dd31..f667917 100644
--- a/gxf_isaac_detectnet/package.xml
+++ b/gxf_isaac_detectnet/package.xml
@@ -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_detectnet</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Detectnet GXF extension.</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/isaac_ros_detectnet/config/zed2_config.pbtxt b/isaac_ros_detectnet/config/zed2_config.pbtxt
new file mode 100644
index 0000000..118dce6
--- /dev/null
+++ b/isaac_ros_detectnet/config/zed2_config.pbtxt
@@ -0,0 +1,29 @@
+name: "peoplenet"
+platform: "tensorrt_plan"
+max_batch_size: 16
+input [
+  {
+    name: "input_1"
+    data_type: TYPE_FP32
+    format: FORMAT_NCHW
+    dims: [ 3, 720, 1280 ]
+  }
+]
+output [
+  {
+        name: "output_bbox/BiasAdd"
+        data_type: TYPE_FP32
+        dims: [ 12, 45, 80]
+    },
+    {
+        name: "output_cov/Sigmoid"
+        data_type: TYPE_FP32
+        dims: [ 3, 45, 80]
+    }
+]
+dynamic_batching { }
+version_policy: {
+  specific {
+    versions: [ 1 ]
+  }
+}
diff --git a/isaac_ros_detectnet/config/zedx_config.pbtxt b/isaac_ros_detectnet/config/zedx_config.pbtxt
new file mode 100644
index 0000000..e5cfae9
--- /dev/null
+++ b/isaac_ros_detectnet/config/zedx_config.pbtxt
@@ -0,0 +1,29 @@
+name: "peoplenet"
+platform: "tensorrt_plan"
+max_batch_size: 16
+input [
+  {
+    name: "input_1"
+    data_type: TYPE_FP32
+    format: FORMAT_NCHW
+    dims: [ 3, 1200, 1920 ]
+  }
+]
+output [
+  {
+        name: "output_bbox/BiasAdd"
+        data_type: TYPE_FP32
+        dims: [ 12, 75, 120]
+    },
+    {
+        name: "output_cov/Sigmoid"
+        data_type: TYPE_FP32
+        dims: [ 3, 75, 120]
+    }
+]
+dynamic_batching { }
+version_policy: {
+  specific {
+    versions: [ 1 ]
+  }
+}
\ No newline at end of file
diff --git a/isaac_ros_detectnet/package.xml b/isaac_ros_detectnet/package.xml
index d346a01..2f483ff 100644
--- a/isaac_ros_detectnet/package.xml
+++ b/isaac_ros_detectnet/package.xml
@@ -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>isaac_ros_detectnet</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>DetectNet model processing</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/isaac_ros_rtdetr/package.xml b/isaac_ros_rtdetr/package.xml
index 61cc802..ef817bf 100644
--- a/isaac_ros_rtdetr/package.xml
+++ b/isaac_ros_rtdetr/package.xml
@@ -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>isaac_ros_rtdetr</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>RT-DETR model processing</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
diff --git a/isaac_ros_yolov8/package.xml b/isaac_ros_yolov8/package.xml
index acc8959..e905ddc 100644
--- a/isaac_ros_yolov8/package.xml
+++ b/isaac_ros_yolov8/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_yolov8</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>Isaac ROS YOLOv8 decoding</description>
 
   <maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>