+ {% block body %}{% endblock %}
+
+
+
+
+ -
+
-
+
+
 }})
+
+
+
+
+ {# SIDE NAV, TOGGLES ON MOBILE #}
+
+
+
+
+ {# MOBILE NAV, TRIGGLES SIDE NAV ON TOGGLE #}
+
+
+
+ {# PAGE CONTENT #}
+
+
+
+ {% include "versions.html" %}
+
+ {% if not embedded %}
+
+
+ {%- for scriptfile in script_files %}
+
+ {%- endfor %}
+
+
+
+ {% endif %}
+
+ {# RTD hosts this file, so just load on non RTD builds #}
+ {% if not READTHEDOCS %}
+
+ {% endif %}
+
+ {# STICKY NAVIGATION #}
+ {% if theme_sticky_navigation %}
+
+ {% endif %}
+
+ {%- block footer %} {% endblock %}
+
+
+
diff --git a/docs_sphinx/_themes/sphinx_rtd_theme_ti/layout_old.html b/docs_sphinx/_themes/sphinx_rtd_theme_ti/layout_old.html
new file mode 100644
index 0000000..deb8df2
--- /dev/null
+++ b/docs_sphinx/_themes/sphinx_rtd_theme_ti/layout_old.html
@@ -0,0 +1,205 @@
+{#
+ basic/layout.html
+ ~~~~~~~~~~~~~~~~~
+
+ Master layout template for Sphinx themes.
+
+ :copyright: Copyright 2007-2013 by the Sphinx team, see AUTHORS.
+ :license: BSD, see LICENSE for details.
+#}
+{%- block doctype -%}
+
+{%- endblock %}
+{%- set reldelim1 = reldelim1 is not defined and ' »' or reldelim1 %}
+{%- set reldelim2 = reldelim2 is not defined and ' |' or reldelim2 %}
+{%- set render_sidebar = (not embedded) and (not theme_nosidebar|tobool) and
+ (sidebars != []) %}
+{%- set url_root = pathto('', 1) %}
+{# XXX necessary? #}
+{%- if url_root == '#' %}{% set url_root = '' %}{% endif %}
+{%- if not embedded and docstitle %}
+ {%- set titlesuffix = " — "|safe + docstitle|e %}
+{%- else %}
+ {%- set titlesuffix = "" %}
+{%- endif %}
+
+{%- macro relbar() %}
+
+{%- endmacro %}
+
+{%- macro sidebar() %}
+ {%- if render_sidebar %}
+
+
+
+
+ {% include "breadcrumbs.html" %}
+
+
+
+ {% include "footer.html" %}
+
+
+ {%- endif %}
+{%- endmacro %}
+
+{%- macro script() %}
+
+ {%- for scriptfile in script_files %}
+
+ {%- endfor %}
+{%- endmacro %}
+
+{%- macro css() %}
+
+
+ {%- for cssfile in css_files %}
+
+ {%- endfor %}
+{%- endmacro %}
+
+
+
+
+ {{ metatags }}
+ {%- block htmltitle %}
+
+ {%- block sidebarlogo %}
+ {%- if logo %}
+
+ {%- endif %}
+ {%- endblock %}
+ {%- if sidebars != None %}
+ {#- new style sidebar: explicitly include/exclude templates #}
+ {%- for sidebartemplate in sidebars %}
+ {%- include sidebartemplate %}
+ {%- endfor %}
+ {%- else %}
+ {#- old style sidebars: using blocks -- should be deprecated #}
+ {%- block sidebartoc %}
+ {%- include "localtoc.html" %}
+ {%- endblock %}
+ {%- block sidebarrel %}
+ {%- include "relations.html" %}
+ {%- endblock %}
+ {%- block sidebarsourcelink %}
+ {%- include "sourcelink.html" %}
+ {%- endblock %}
+ {%- if customsidebar %}
+ {%- include customsidebar %}
+ {%- endif %}
+ {%- block sidebarsearch %}
+ {%- include "searchbox.html" %}
+ {%- endblock %}
+ {%- endif %}
+
+
+ {%- block document %}
+
+{%- endblock %}
+
+{%- block relbar2 %}{{ relbar() }}{% endblock %}
+
+{%- block footer %}
+
+
+ {%- if render_sidebar %}
+
+ {%- endblock %}
+
+ {%- block sidebar2 %}{{ sidebar() }}{% endblock %}
+
+
+ {%- endif %}
+
+ {%- endif %}
+
+ {% block body %} {% endblock %}
+
+ {%- if render_sidebar %}
+ asdf asdf asdf asdf 22
+{%- endblock %} + + + diff --git a/docs_sphinx/_themes/sphinx_rtd_theme_ti/search.html b/docs_sphinx/_themes/sphinx_rtd_theme_ti/search.html new file mode 100644 index 0000000..331ce7a --- /dev/null +++ b/docs_sphinx/_themes/sphinx_rtd_theme_ti/search.html @@ -0,0 +1,52 @@ +{# + basic/search.html + ~~~~~~~~~~~~~~~~~ + + Template for the search page. + + :copyright: Copyright 2007-2013 by the Sphinx team, see AUTHORS. + :license: BSD, see LICENSE for details. +#} +{%- extends "layout.html" %} +{% set title = _('Search') %} +{% set script_files = script_files + ['_static/searchtools.js'] %} +{% set script_files = script_files + ['_static/language_data.js'] %} +{% block footer %} + + {# this is used when loading the search index using $.ajax fails, + such as on Chrome for documents on localhost #} + + {{ super() }} +{% endblock %} +{% block body %} + + + {% if search_performed %} +{{ _('Search Results') }}
+ {% if not search_results %} +{{ _('Your search did not match any documents. Please make sure that all words are spelled correctly and that you\'ve selected enough categories.') }}
+ {% endif %} + {% endif %} +
+ {% if search_results %}
+
+{% endblock %}
diff --git a/docs_sphinx/_themes/sphinx_rtd_theme_ti/searchbox.html b/docs_sphinx/_themes/sphinx_rtd_theme_ti/searchbox.html
new file mode 100644
index 0000000..35ad52c
--- /dev/null
+++ b/docs_sphinx/_themes/sphinx_rtd_theme_ti/searchbox.html
@@ -0,0 +1,9 @@
+{%- if builder != 'singlehtml' %}
+-
+ {% for href, caption, context in search_results %}
+
-
+ {{ caption }}
+
{{ context|e }}
+
+ {% endfor %}
+
+
+
+{%- endif %}
diff --git a/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/badge_only.css b/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/badge_only.css
new file mode 100644
index 0000000..7e17fb1
--- /dev/null
+++ b/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/badge_only.css
@@ -0,0 +1,2 @@
+.fa:before{-webkit-font-smoothing:antialiased}.clearfix{*zoom:1}.clearfix:before,.clearfix:after{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-weight:normal;font-style:normal;src:url("../font/fontawesome_webfont.eot");src:url("../font/fontawesome_webfont.eot?#iefix") format("embedded-opentype"),url("../font/fontawesome_webfont.woff") format("woff"),url("../font/fontawesome_webfont.ttf") format("truetype"),url("../font/fontawesome_webfont.svg#FontAwesome") format("svg")}.fa:before{display:inline-block;font-family:FontAwesome;font-style:normal;font-weight:normal;line-height:1;text-decoration:inherit}a .fa{display:inline-block;text-decoration:inherit}li .fa{display:inline-block}li .fa-large:before,li .fa-large:before{width:1.875em}ul.fas{list-style-type:none;margin-left:2em;text-indent:-0.8em}ul.fas li .fa{width:0.8em}ul.fas li .fa-large:before,ul.fas li .fa-large:before{vertical-align:baseline}.fa-book:before{content:""}.icon-book:before{content:""}.fa-caret-down:before{content:""}.icon-caret-down:before{content:""}.fa-caret-up:before{content:""}.icon-caret-up:before{content:""}.fa-caret-left:before{content:""}.icon-caret-left:before{content:""}.fa-caret-right:before{content:""}.icon-caret-right:before{content:""}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;border-top:solid 10px #343131;font-family:"Lato","proxima-nova","Helvetica Neue",Arial,sans-serif;z-index:400}.rst-versions a{color:#2980B9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27AE60;*zoom:1}.rst-versions .rst-current-version:before,.rst-versions .rst-current-version:after{display:table;content:""}.rst-versions .rst-current-version:after{clear:both}.rst-versions .rst-current-version .fa{color:#fcfcfc}.rst-versions .rst-current-version .fa-book{float:left}.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#E74C3C;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#F1C40F;color:#000}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:gray;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:solid 1px #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px}.rst-versions.rst-badge .icon-book{float:none}.rst-versions.rst-badge .fa-book{float:none}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book{float:left}.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge .rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width: 768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}img{width:100%;height:auto}}
+/*# sourceMappingURL=badge_only.css.map */
diff --git a/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/badge_only.css.map b/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/badge_only.css.map
new file mode 100644
index 0000000..9d07b87
--- /dev/null
+++ b/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/badge_only.css.map
@@ -0,0 +1,7 @@
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+"names": [],
+"file": "badge_only.css"
+}
diff --git a/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/theme.css b/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/theme.css
new file mode 100644
index 0000000..7be9339
--- /dev/null
+++ b/docs_sphinx/_themes/sphinx_rtd_theme_ti/static/css/theme.css
@@ -0,0 +1,5 @@
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+ * Font Awesome 4.2.0 by @davegandy - http://fontawesome.io - @fontawesome
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+ * Build: http://modernizr.com/download/#-fontface-backgroundsize-borderimage-borderradius-boxshadow-flexbox-hsla-multiplebgs-opacity-rgba-textshadow-cssanimations-csscolumns-generatedcontent-cssgradients-cssreflections-csstransforms-csstransforms3d-csstransitions-applicationcache-canvas-canvastext-draganddrop-hashchange-history-audio-video-indexeddb-input-inputtypes-localstorage-postmessage-sessionstorage-websockets-websqldatabase-webworkers-geolocation-inlinesvg-smil-svg-svgclippaths-touch-webgl-shiv-mq-cssclasses-addtest-prefixed-teststyles-testprop-testallprops-hasevent-prefixes-domprefixes-load
+ */
+;window.Modernizr=function(a,b,c){function D(a){j.cssText=a}function E(a,b){return D(n.join(a+";")+(b||""))}function F(a,b){return typeof a===b}function G(a,b){return!!~(""+a).indexOf(b)}function H(a,b){for(var d in a){var e=a[d];if(!G(e,"-")&&j[e]!==c)return b=="pfx"?e:!0}return!1}function I(a,b,d){for(var e in a){var f=b[a[e]];if(f!==c)return d===!1?a[e]:F(f,"function")?f.bind(d||b):f}return!1}function J(a,b,c){var d=a.charAt(0).toUpperCase()+a.slice(1),e=(a+" "+p.join(d+" ")+d).split(" ");return F(b,"string")||F(b,"undefined")?H(e,b):(e=(a+" "+q.join(d+" ")+d).split(" "),I(e,b,c))}function K(){e.input=function(c){for(var d=0,e=c.length;d
+
+ Read the Docs
+ v: {{ current_version }}
+
+
+
+{% endif %}
+
diff --git a/docs_sphinx/_themes/theme_overrides.css b/docs_sphinx/_themes/theme_overrides.css
new file mode 100644
index 0000000..27fb69d
--- /dev/null
+++ b/docs_sphinx/_themes/theme_overrides.css
@@ -0,0 +1,233 @@
+
+/* Open Sans Latin
+ base64 encode done on opensans_latin_v13.woff2 */
+@font-face {
+ font-family: 'Open Sans';
+ font-style: normal;
+ font-weight: 400;
+ src: 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') format('woff2');
+ unicode-range: U+0000-00FF, U+0131, U+0152-0153, U+02C6, U+02DA, U+02DC, U+2000-206F, U+2074, U+20AC, U+2212, U+2215;
+}
+
+/* Open Sans Semibold Latin
+ base64 encode done on opensans_semibold_latin_v13.woff2 */
+@font-face {
+ font-family: 'Open Sans';
+ font-style: normal;
+ font-weight: 600;
+ src: 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') format('woff2');
+ unicode-range: U+0000-00FF, U+0131, U+0152-0153, U+02C6, U+02DA, U+02DC, U+2000-206F, U+2074, U+20AC, U+2212, U+2215;
+}
+
+/* Font Awesome
+ base64 encode done on opensans_semibold_latin_v13.woff2 */
+@font-face {
+ font-family: 'FontAwesome';
+ font-style: normal;
+ src: 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') format('woff2');
+}
+
+
+/* Override table width restrictions */
+@media screen and (min-width: 767px) {
+
+ .wy-table-responsive table td {
+ /* !important prevents the common CSS stylesheets from
+ overriding this as on RTD they are loaded after this stylesheet */
+ white-space: normal !important;
+ }
+
+ .wy-table-responsive {
+ overflow: auto !important;
+ }
+
+ .wy-nav-content {
+ max-width: none;
+ }
+}
+
+/* Hide the TI header on small screens */
+@media screen and (max-width: 768px) {
+ #tiHeader {
+ display: none !important;
+ }
+}
+
+/* Override colors */
+
+.wy-nav-top {
+ background-color: #CC0000; /* TI red */
+}
+
+.wy-nav-side {
+ background-color: #f9f9f9 !important; /* TI website Nav background*/
+ position: absolute;
+}
+
+.wy-side-nav-search {
+ background-color: #555; /* TI dark gray */
+}
+
+.wy-side-nav-search input[type=text] {
+ border-color : rgba(255,255,255,0.8); /* Lighter gray outline */
+}
+
+
+/* Links in general. */
+a {
+ color: #189; /* TI website inline link color */
+}
+
+/* Inline code */
+a .rst-content code {
+ color: #189;
+}
+
+/* SIDEBAR
+=============================================================================*/
+
+.wy-menu-vertical a {
+ color: #555;
+ background-color: #f9f9f9 !important; /* TI website Nav background*/
+ border-top: none !important;
+ border-right: none !important;
+ border-bottom: solid 1px #c9c9c9 !important;
+}
+
+.wy-menu-vertical li.on a, .wy-menu-vertical li.current > a {
+ color: #555; /* TI website current nav link */
+}
+
+.wy-nav-side li.current {
+ background-color: #f9f9f9 !important; /* TI website Nav background*/
+}
+
+.wy-side-nav-search>div.version {
+ color: rgba(255,255,255,0.8);
+ font-weight: 600;
+}
+
+/* FONTS AND SIZES
+=============================================================================*/
+
+body {
+ font-family: 'Open Sans', sans-serif;
+ font-size: 16px;
+ color: #555;
+ background-color: #fff;
+}
+
+h1, h2, h3, h4, h5, h6 {
+ font-family: "Open Sans", sans-serif;
+ font-weight: 600;
+ color: #333;
+ -webkit-font-smoothing: antialiased;
+}
+
+h1 {
+ font-size: 2em;
+}
+
+h2 {
+ font-size: 1.6em;
+ border-bottom: 1px solid #ccc;
+}
+
+h3 {
+ font-size: 1.4em;
+}
+
+h4 {
+ font-size: 1.2em;
+}
+
+h5 {
+ font-size: 1em;
+}
+
+h6 {
+ font-size: 1em;
+}
+
+body>h2:first-child, body>h1:first-child, body>h1:first-child+h2, body>h3:first-child, body>h4:first-child, body>h5:first-child, body>h6:first-child {
+ margin-top: 0;
+ padding-top: 0;
+}
+
+a:first-child h1, a:first-child h2, a:first-child h3, a:first-child h4, a:first-child h5, a:first-child h6 {
+ margin-top: 0;
+ padding-top: 0;
+}
+
+h1+p, h2+p, h3+p, h4+p, h5+p, h6+p {
+ margin-top: 10px;
+}
+
+/* HEADER AND FOOTER
+=============================================================================*/
+
+#tiHeader {
+ background-color: white;
+}
+
+div.top {
+ padding-top: 15px;
+ padding-bottom: 15px;
+}
+
+#tiHeader ul {
+ list-style-type: none;
+ padding-left: 30px;
+ background-color: white;
+}
+
+#tiHeader .nav {
+ background: #c00;
+ height: 41.375px;
+}
+
+#tiHeader #top_logo {
+ height: 36px;
+}
+
+#content {
+ padding: 1em;
+ max-width: 1200px;
+ overflow: auto;
+ margin: 0 auto;
+}
+
+#tiFooter {
+ clear: both;
+ color: #b0b0b0;
+ font-size: .9em;
+ padding: 1em 2em;
+ padding: 1em 2rem;
+ border-top: 1px solid #e0e0e0;
+ background: #fff;
+}
+
+#tiFooter p {
+ max-width: 60em;
+}
+
+#tiFooter a {
+ color: #b0b0b0;
+}
+
+#tiFooter a:hover {
+ color: #c00;
+}
+
+.codeblock, pre.literal-block, .rst-content .literal-block, .rst-content pre.literal-block, div[class^='highlight'] {
+font-size: 12px;
+line-height: 1.5;
+display: block;
+overflow: auto;
+color: #404040;
+padding: 12px 12px;
+}
+
+.codeblock,div[class^='highlight'] {
+padding: 0;
+}
diff --git a/docs_sphinx/am62a/community_nodes.rst b/docs_sphinx/am62a/community_nodes.rst
new file mode 100644
index 0000000..8ee30af
--- /dev/null
+++ b/docs_sphinx/am62a/community_nodes.rst
@@ -0,0 +1,10 @@
+========================
+ROS Nodes from Community
+========================
+
+.. toctree::
+ :maxdepth: 2
+
+ source/ros1/slam/README
+ source/docs/april_tag
+
diff --git a/docs_sphinx/am62a/conf.py b/docs_sphinx/am62a/conf.py
new file mode 100644
index 0000000..589e5fe
--- /dev/null
+++ b/docs_sphinx/am62a/conf.py
@@ -0,0 +1,166 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+import sphinx_rtd_theme
+
+# -- Project information -----------------------------------------------------
+
+project = 'Robotics SDK for AM62A'
+copyright = '2024, Texas Instruments Incorporated'
+
+# The full version, including alpha/beta/rc tags
+release = '10.1.0'
+version = release
+
+# -- General configuration ---------------------------------------------------
+# version <= 1.8.5
+# source_suffix = ['.rst', '.md']
+
+source_suffix = {
+ '.rst': 'restructuredtext',
+ '.md': 'markdown'
+}
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+
+extensions = [
+ 'myst_parser',
+ 'sphinx_rtd_theme',
+ 'sphinx_copybutton',
+ # 'sphinx.ext.ifconfig',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = [
+ '_build',
+ 'Thumbs.db',
+ '.DS_Store',
+ 'README.md',
+ 'j7x',
+ 'am62a',
+ 'mmwave_radar.rst',
+ 'stereo_camera.rst',
+ 'community_nodes.rst',
+ 'source/README.md',
+ 'source/scripts_internal',
+ 'source/docker/setting_docker_ros1.md',
+ 'source/tools/stereo_camera',
+ 'source/ros2/drivers/zed_capture',
+ 'source/ros2/nodes/ti_sde',
+ 'source/ros2/nodes/ti_estop',
+ 'source/ros2/nodes/ti_objdet_range',
+ 'source/ros2/nodes/ti_vl',
+ 'source/ros2/nodes/ti_viz_nodes',
+ 'source/ros2/drivers/gscam2/README.md',
+ 'source/ros2/drivers/ti_mmwave_rospkg/README.md',
+ 'source/ros2/drivers/ti_mmwave_rospkg/docs/Multi_sensor_time_synchronization.md',
+ 'source/ros2/drivers/serial-ros2-master/*',
+ 'source/docs/radar_driver_node.md',
+ 'source/docs/multi_sensor_time_synchronization.md',
+ 'source/docs/realsense_driver_node.md',
+ 'source/docs/performance_report_j7x.md',
+ 'source/docs/april_tag.md',
+ 'source/docs/realsense_driver_node.md',
+ 'source/ros2/nodes/ti_objdet_range/README.md',
+ 'source/ros2/nodes/ti_vision_cnn/README_6D_pose.md',
+]
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+#
+# html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_themes']
+
+# html_theme = 'sphinx_rtd_theme'
+# html_theme_options = {
+# 'logo_only': False,
+# 'display_version': True,
+# 'prev_next_buttons_location': 'bottom',
+# 'style_external_links': True,
+# # Toc options
+# 'collapse_navigation': False,
+# 'sticky_navigation': False,
+# 'navigation_depth': 3,
+# 'includehidden': True,
+# 'titles_only': False
+# }
+
+html_theme = 'sphinx_rtd_theme_ti'
+html_theme_options = {}
+html_theme_path = ["_themes"]
+html_favicon = '_images/favicon.ico'
+html_title = "Robotics SDK Documentation"
+
+# Custom sidebar templates, maps document names to template names.
+html_sidebars = { '**': ['globaltoc.html', 'relations.html', 'sourcelink.html',
+ 'searchbox.html'], }
+
+# If true, links to the reST sources are added to the pages.
+html_show_sourcelink = False
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+html_show_sphinx = False
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+html_show_copyright = True
+
+# Language to be used for generating the HTML full-text search index.
+# Sphinx supports the following languages:
+# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
+# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr'
+html_search_language = 'en'
+
+# The name of a javascript file (relative to the configuration directory) that
+# implements a search results scorer. If empty, the default will be used.
+html_search_scorer = ''
+
+# sphinx_copybutton options
+# prompt will match any prompt that follows the general structure of `username@hostname:path$ `
+copybutton_prompt_text = r"\S+@\S+:[^$\n]*\$\s"
+copybutton_prompt_is_regexp = True
+copybutton_remove_prompts = True
+copybutton_trim_trailing_whitespace = True
+
+# MyST extensions
+myst_enable_extensions = [
+ 'substitution',
+]
+myst_substitutions = {
+ 'RELEASE': release, # 'release' defined on the top
+ 'SDK_VER': '10_01_00', # to be used in URLs
+ 'ROS1_DISTRO': 'Noetic',
+ 'ROS2_DISTRO': 'Humble'
+}
+
+# Add tags
+tags.add('tag_am62a')
+
+def setup(app):
+ app.add_css_file("theme_overrides.css")
+ # app.add_config_value('device', 'am62a', 'env')
diff --git a/docs_sphinx/am62a/index.rst b/docs_sphinx/am62a/index.rst
new file mode 100644
index 0000000..3a9eb70
--- /dev/null
+++ b/docs_sphinx/am62a/index.rst
@@ -0,0 +1,26 @@
+.. Robotics SDK documentation master file, created by
+ sphinx-quickstart on Wed Apr 14 21:26:04 2021.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+Robotics SDK 10.1.0 for AM62A
+=============================
+
+.. toctree::
+ :maxdepth: 2
+ :numbered:
+
+ source/robotics_sdk_intro
+ source/docker/README
+ source/docker/setting_docker_ros2
+ mono_camera
+ source/docs/radar_driver_node_ros2
+ source/ros2/nodes/ti_vision_cnn/README
+ source/ros2/nodes/ti_vision_cnn/README_objdet
+ source/ros2/nodes/ti_vision_cnn/README_humanpose
+ source/ros2/nodes/ti_objdet_radar/README
+ source/ros2/nodes/ti_ros_gst_plugins/README
+ source/docs/sdk_components
+ source/docs/performance_report_am62a.md
+ source/docs/known_issues.md
+ source/CHANGELOG
diff --git a/docs_sphinx/am62a/mmwave_radar.rst b/docs_sphinx/am62a/mmwave_radar.rst
new file mode 100644
index 0000000..0f69d96
--- /dev/null
+++ b/docs_sphinx/am62a/mmwave_radar.rst
@@ -0,0 +1,8 @@
+===================
+mmWave Radar Driver
+===================
+
+.. toctree::
+ :maxdepth: 2
+
+ source/docs/radar_driver_node
diff --git a/docs_sphinx/gen_html.sh b/docs_sphinx/gen_html.sh
new file mode 100755
index 0000000..b87e1ca
--- /dev/null
+++ b/docs_sphinx/gen_html.sh
@@ -0,0 +1,55 @@
+#!/bin/bash
+PROJECT_BASE=$(dirname $(pwd))
+HTML_FOLDER='docs'
+
+## soft-link the source, but exclude the current folder
+# define directories to exclude
+EXCLUDE_DIRS=(
+ "$(pwd)"
+ "${PROJECT_BASE}/ros1_archive"
+)
+rm -rf source
+mkdir source
+for d in $PROJECT_BASE/*; do
+ exclude=false
+ for exclude_dir in "${EXCLUDE_DIRS[@]}"; do
+ if [[ "$d" == "$exclude_dir" ]]; then
+ exclude=true
+ break
+ fi
+ done
+ if [[ "$exclude" == false ]]; then
+ ln -s "$d" source/
+ fi
+done
+
+## loop through device families and generate the SDK documentation
+devices=(
+ j7x
+ am62a
+)
+for device in ${devices[@]}; do
+ ln -s $device/conf.py conf.py
+ ln -s $device/index.rst index.rst
+ ln -s $device/mmwave_radar.rst mmwave_radar.rst
+ ln -s $device/community_nodes.rst community_nodes.rst
+ make clean
+ make html
+ rm -rf _build_$device
+ mv _build/html _build/$HTML_FOLDER
+ mv _build _build_$device
+ # xdg-open _build_$opt/$HTML_FOLDER/index.html
+ echo "===> $device SDK documentation generated!"
+ rm -f conf.py index.rst mmwave_radar.rst community_nodes.rst
+
+ # zip
+ cd _build_$device
+ current_date=$(date +'%Y-%m-%d')
+ ZIP_FILE=robotics_sdk_docs_${current_date}_${device}.zip
+ zip -q -r $ZIP_FILE $HTML_FOLDER
+ mv $ZIP_FILE ..
+ cd -
+ echo "===> $ZIP_FILE generated"
+
+done
+rm -rf source
diff --git a/docs_sphinx/j7x/community_nodes.rst b/docs_sphinx/j7x/community_nodes.rst
new file mode 100644
index 0000000..63df698
--- /dev/null
+++ b/docs_sphinx/j7x/community_nodes.rst
@@ -0,0 +1,11 @@
+========================
+ROS Nodes from Community
+========================
+
+.. toctree::
+ :maxdepth: 2
+
+ source/docs/realsense_driver_node
+ source/ros1/slam/README
+ source/docs/april_tag
+
diff --git a/docs_sphinx/j7x/conf.py b/docs_sphinx/j7x/conf.py
new file mode 100644
index 0000000..9b06dca
--- /dev/null
+++ b/docs_sphinx/j7x/conf.py
@@ -0,0 +1,156 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+import sphinx_rtd_theme
+
+# -- Project information -----------------------------------------------------
+
+project = 'Robotics SDK for TDA4VM, AM67A, AM68A, AM69A'
+copyright = '2024, Texas Instruments Incorporated'
+
+# The full version, including alpha/beta/rc tags
+release = '10.1.0'
+version = release
+
+# -- General configuration ---------------------------------------------------
+# version <= 1.8.5
+# source_suffix = ['.rst', '.md']
+
+source_suffix = {
+ '.rst': 'restructuredtext',
+ '.md': 'markdown'
+}
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+
+extensions = [
+ 'myst_parser',
+ 'sphinx_rtd_theme',
+ 'sphinx_copybutton',
+ # 'sphinx.ext.ifconfig',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = [
+ '_build',
+ 'Thumbs.db',
+ '.DS_Store',
+ 'README.md',
+ 'j7x',
+ 'am62a',
+ 'mmwave_radar.rst',
+ 'community_nodes.rst',
+ 'source/README.md',
+ 'source/scripts_internal',
+ 'source/docker/setting_docker_ros1.md',
+ 'source/ros2/nodes/ti_viz_nodes',
+ 'source/ros2/drivers/gscam2/README.md',
+ 'source/ros2/drivers/ti_mmwave_rospkg/README.md',
+ 'source/ros2/drivers/ti_mmwave_rospkg/docs/Multi_sensor_time_synchronization.md',
+ 'source/ros2/drivers/serial-ros2-master/*',
+ 'source/docs/performance_report_am62a.md',
+ 'source/docs/multi_sensor_time_synchronization.md',
+ 'source/docs/radar_driver_node.md',
+ 'source/docs/april_tag.md',
+ 'source/docs/realsense_driver_node.md',
+]
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+#
+# html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_themes']
+
+# html_theme = 'sphinx_rtd_theme'
+# html_theme_options = {
+# 'logo_only': False,
+# 'display_version': True,
+# 'prev_next_buttons_location': 'bottom',
+# 'style_external_links': True,
+# # Toc options
+# 'collapse_navigation': False,
+# 'sticky_navigation': False,
+# 'navigation_depth': 3,
+# 'includehidden': True,
+# 'titles_only': False
+# }
+
+html_theme = 'sphinx_rtd_theme_ti'
+html_theme_options = {}
+html_theme_path = ["_themes"]
+html_favicon = '_images/favicon.ico'
+html_title = "Robotics SDK Documentation"
+
+# Custom sidebar templates, maps document names to template names.
+html_sidebars = { '**': ['globaltoc.html', 'relations.html', 'sourcelink.html',
+ 'searchbox.html'], }
+
+# If true, links to the reST sources are added to the pages.
+html_show_sourcelink = False
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+html_show_sphinx = False
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+html_show_copyright = True
+
+# Language to be used for generating the HTML full-text search index.
+# Sphinx supports the following languages:
+# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
+# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr'
+html_search_language = 'en'
+
+# The name of a javascript file (relative to the configuration directory) that
+# implements a search results scorer. If empty, the default will be used.
+html_search_scorer = ''
+
+# sphinx_copybutton options
+# prompt will match any prompt that follows the general structure of `username@hostname:path$ `
+copybutton_prompt_text = r"\S+@\S+:[^$\n]*\$\s"
+copybutton_prompt_is_regexp = True
+copybutton_remove_prompts = True
+copybutton_trim_trailing_whitespace = True
+
+# MyST extensions
+myst_enable_extensions = [
+ 'substitution',
+]
+myst_substitutions = {
+ 'RELEASE': release, # 'release' defined on the top
+ 'SDK_VER': '10_01_00', # to be used in URLs
+ 'ROS1_DISTRO': 'Noetic',
+ 'ROS2_DISTRO': 'Humble'
+}
+
+# Add tags
+tags.add('tag_j7x')
+
+def setup(app):
+ app.add_css_file("theme_overrides.css")
+ # app.add_config_value('device', 'j7x', 'env')
diff --git a/docs_sphinx/j7x/index.rst b/docs_sphinx/j7x/index.rst
new file mode 100644
index 0000000..d88ba3d
--- /dev/null
+++ b/docs_sphinx/j7x/index.rst
@@ -0,0 +1,32 @@
+.. Robotics SDK documentation master file, created by
+ sphinx-quickstart on Wed Apr 14 21:26:04 2021.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+Robotics SDK 10.1.0 for TDA4VM, AM67A, AM68A, and AM69A
+=======================================================
+
+.. toctree::
+ :maxdepth: 2
+ :numbered:
+
+ source/robotics_sdk_intro
+ source/docker/README
+ source/docker/setting_docker_ros2
+ stereo_camera
+ mono_camera
+ source/docs/radar_driver_node_ros2
+ source/ros2/nodes/ti_sde/README
+ source/ros2/nodes/ti_vision_cnn/README
+ source/ros2/nodes/ti_vision_cnn/README_objdet
+ source/ros2/nodes/ti_vision_cnn/README_6D_pose
+ source/ros2/nodes/ti_vision_cnn/README_humanpose
+ source/ros2/nodes/ti_estop/README
+ source/ros2/nodes/ti_objdet_range/README
+ source/ros2/nodes/ti_objdet_radar/README
+ source/ros2/nodes/ti_vl/README
+ source/ros2/nodes/ti_ros_gst_plugins/README
+ source/docs/sdk_components
+ source/docs/performance_report_j7x.md
+ source/docs/known_issues.md
+ source/CHANGELOG
diff --git a/docs_sphinx/j7x/mmwave_radar.rst b/docs_sphinx/j7x/mmwave_radar.rst
new file mode 100644
index 0000000..29e2cfc
--- /dev/null
+++ b/docs_sphinx/j7x/mmwave_radar.rst
@@ -0,0 +1,9 @@
+===================
+mmWave Radar Driver
+===================
+
+.. toctree::
+ :maxdepth: 2
+
+ source/docs/radar_driver_node
+ source/docs/multi_sensor_time_synchronization
diff --git a/docs_sphinx/mono_camera.rst b/docs_sphinx/mono_camera.rst
new file mode 100644
index 0000000..7908d8f
--- /dev/null
+++ b/docs_sphinx/mono_camera.rst
@@ -0,0 +1,9 @@
+============================
+Mono Camera Driver and Tools
+============================
+
+.. toctree::
+ :maxdepth: 2
+
+ source/ros2/drivers/mono_capture/README
+ source/ros2/drivers/gscam2/README_TI
diff --git a/docs_sphinx/requirements.txt b/docs_sphinx/requirements.txt
new file mode 100644
index 0000000..81923ea
--- /dev/null
+++ b/docs_sphinx/requirements.txt
@@ -0,0 +1,8 @@
+# particular versions below comes from Jesse's debugs in psdk_rtos_auto (to enable search feature and etc)
+sphinx
+sphinx-rtd-theme
+myst-parser
+sphinx-copybutton
+# Sphinx not rendering bullet list from rst file
+# https://stackoverflow.com/questions/67542699/readthedocs-sphinx-not-rendering-bullet-list-from-rst-file
+docutils==0.16
diff --git a/docs_sphinx/stereo_camera.rst b/docs_sphinx/stereo_camera.rst
new file mode 100644
index 0000000..d4f2cef
--- /dev/null
+++ b/docs_sphinx/stereo_camera.rst
@@ -0,0 +1,10 @@
+==============================
+Stereo Camera Driver and Tools
+==============================
+
+.. toctree::
+ :maxdepth: 2
+
+ source/ros2/drivers/zed_capture/README
+ source/tools/stereo_camera/calibration/README
+
diff --git a/manifest.html b/manifest.html
index d6be07a..7b617b0 100644
--- a/manifest.html
+++ b/manifest.html
@@ -30,15 +30,15 @@
+
+ Free document hosting provided by Read the Docs. + +
+ -
+
- Versions + {% for slug, url in versions %} +
- {{ slug }} + {% endfor %} +
-
+
- Downloads + {% for type, url in downloads %} +
- {{ type }} + {% endfor %} +
-
+
- On Read the Docs +
- + Project Home + +
- + Builds + +
+ Free document hosting provided by Read the Docs. + +
-2024-15-08 +2024-04-12
@@ -225,7 +225,7 @@
Export Information
- Jacinto_ROS_Perception Manifest Table + Robotics SDK Manifest Table
@@ -248,10 +248,10 @@
- Jacinto_ROS_Perception
+ Robotics SDK
- 10.0.0
+ 10.1.0
TI Text File
@@ -294,7 +294,7 @@
Location
- [installed_path]/{ros1,ros2}/drivers/zed_capture
+ [installed_path]/ros2/drivers/zed_capture
@@ -322,9 +322,9 @@ Credits
Licenses
- Jacinto_ROS_Perception Licenses
+ Robotics SDK Licenses
- Jacinto_ROS_Perception License
-----------------------------
/*
Copyright (c) 2020 Texas Instruments Incorporated
All rights reserved not granted herein.
Limited License.
Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive license under copyrights and patents it now or hereafter owns or controls to make, have made, use, import, offer to sell and sell ("Utilize") this software subject to the terms herein. With respect to the foregoing patent license, such license is granted solely to the extent that any such patent is necessary to Utilize the software alone. The patent license shall not apply to any combinations which include this software, other than combinations with devices manufactured by or for TI ("TI Devices"). No hardware patent is licensed hereunder.
Redistributions must preserve existing copyright notices and reproduce this license (including the above copyright notice and the disclaimer and (if applicable) source code license limitations below) in the documentation and/or other materials provided with the distribution
Redistribution and use in binary form, without modification, are permitted provided that the following conditions are met:
* No reverse engineering, decompilation, or disassembly of this software is permitted with respect to any software provided in binary form.
* any redistribution and use are licensed by TI for use only with TI Devices.
* Nothing shall obligate TI to provide you with source code for the software licensed and provided to you in object code.
If software source code is provided to you, modification and redistribution of the source code are permitted provided that the following conditions are met:
* any redistribution and use of the source code, including any resulting derivative works, are licensed by TI for use only with TI Devices.
* any redistribution and use of any object code compiled from the source code and any resulting derivative works, are licensed by TI for use only with TI Devices.
Neither the name of Texas Instruments Incorporated nor the names of its suppliers may be used to endorse or promote products derived from this software without specific prior written permission.
DISCLAIMER.
THIS SOFTWARE IS PROVIDED BY TI AND TI"S LICENSORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL TI AND TI"S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
zed_cpu_ros License
--------------------
Copyright (c) 2016, Transcend Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ Robotics SDK License
--------------------
/*
Copyright (c) 2020 Texas Instruments Incorporated
All rights reserved not granted herein.
Limited License.
Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive license under copyrights and patents it now or hereafter owns or controls to make, have made, use, import, offer to sell and sell ("Utilize") this software subject to the terms herein. With respect to the foregoing patent license, such license is granted solely to the extent that any such patent is necessary to Utilize the software alone. The patent license shall not apply to any combinations which include this software, other than combinations with devices manufactured by or for TI ("TI Devices"). No hardware patent is licensed hereunder.
Redistributions must preserve existing copyright notices and reproduce this license (including the above copyright notice and the disclaimer and (if applicable) source code license limitations below) in the documentation and/or other materials provided with the distribution
Redistribution and use in binary form, without modification, are permitted provided that the following conditions are met:
* No reverse engineering, decompilation, or disassembly of this software is permitted with respect to any software provided in binary form.
* any redistribution and use are licensed by TI for use only with TI Devices.
* Nothing shall obligate TI to provide you with source code for the software licensed and provided to you in object code.
If software source code is provided to you, modification and redistribution of the source code are permitted provided that the following conditions are met:
* any redistribution and use of the source code, including any resulting derivative works, are licensed by TI for use only with TI Devices.
* any redistribution and use of any object code compiled from the source code and any resulting derivative works, are licensed by TI for use only with TI Devices.
Neither the name of Texas Instruments Incorporated nor the names of its suppliers may be used to endorse or promote products derived from this software without specific prior written permission.
DISCLAIMER.
THIS SOFTWARE IS PROVIDED BY TI AND TI"S LICENSORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL TI AND TI"S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
zed_cpu_ros License
--------------------
Copyright (c) 2016, Transcend Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/robotics_sdk_intro.md b/robotics_sdk_intro.md
new file mode 100644
index 0000000..e505baa
--- /dev/null
+++ b/robotics_sdk_intro.md
@@ -0,0 +1,151 @@
+# Robotics SDK Introduction
+
+## Git Repository
+
+[Robotics SDK Git Repository](https://github.com/TexasInstruments/edgeai-robotics-sdk)
+
+## User Guide Documentation
+
+```{only} tag_j7x
+- {{'[Robotics SDK for TDA4VM](https://software-dl.ti.com/jacinto7/esd/robotics-sdk/{}/TDA4VM/docs/index.html)'.format(SDK_VER)}}
+- {{'[Robotics SDK for AM67A](https://software-dl.ti.com/jacinto7/esd/robotics-sdk/{}/AM67A/docs/index.html)'.format(SDK_VER)}}
+- {{'[Robotics SDK for AM68A](https://software-dl.ti.com/jacinto7/esd/robotics-sdk/{}/AM68A/docs/index.html)'.format(SDK_VER)}}
+- {{'[Robotics SDK for AM69A](https://software-dl.ti.com/jacinto7/esd/robotics-sdk/{}/AM69A/docs/index.html)'.format(SDK_VER)}}
+```
+```{only} tag_am62a
+- {{'[Robotics SDK for AM62A](https://software-dl.ti.com/jacinto7/esd/robotics-sdk/{}/AM62A/docs/index.html)'.format(SDK_VER)}}
+```
+
+## Overview
+
+```{only} tag_j7x
+The Robotics SDK provides a robotics software development environment for TI Jacinto Processors. It also offers software building blocks and example demos that can be leveraged in robotics software development. The SDK operates in Docker container environments on the Processor SDK Linux:
+
+- [Processor SDK Linux for TDA4VM {{RELEASE}}](https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-SK-TDA4VM)
+- [Processor SDK Linux for AM67A {{RELEASE}}](https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-AM67A)
+- [Processor SDK Linux for AM68A {{RELEASE}}](https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-AM68A)
+- [Processor SDK Linux for AM69A {{RELEASE}}](https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-AM69A)
+```
+
+```{only} tag_am62a
+The Robotics SDK provides a robotics software development environment for TI Sitara Processors. It also offers software building blocks and example demos that can be leveraged in robotics software development. The SDK runs in Docker container environments on:
+
+- [Processor SDK Linux for AM62A {{RELEASE}}](https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-AM62A)
+```
+
+In the next section, you will find detailed steps for setting up Docker container environments for ROS 2 {{ROS2_DISTRO}} on the Processor SDK Linux for Edge AI. The Robotics SDK enables:
+
+- Optimized software implementation of computation-intensive software building blocks (including deep-learning, vision, perception, mapping and localization) on deep-learning core (C7x/MMA), DSP cores, hardware accelerators built-in on the processors.
+- Application software development on the target using libraries optimized on the TI Processor along with many open-source libraries and packages including, for example, OpenCV, Point-Cloud Library (PCL), and more.
+
+Figure 1 shows the software libraries and components provided by the Robotics SDK.
+
+
+ Figure 1. Robotics SDK: Software Stack (Note: hardware diagram varies depending on the platform.)
+
+
+### TI Vision Apps Library
+
+The TI Vision Apps Library is included in the pre-built base image for the Processor SDK Linux for Edge AI. The library provides a set of APIs, including:
+
+- TI OpenVX kernels and software infrastructure
+- Imaging and vision applications
+- Perception applications
+- Advanced driver-assistance systems (ADAS) applications
+
+### Open-Source Deep-Learning Runtime
+
+The Processor SDK Linux for Edge AI also supports the following open-source deep-learning runtime libraries:
+
+- TVM/Neo-AI-DLR
+- TFLite Runtime
+- ONNX Runtime
+
+For more details on open-source deep-learning runtime on TI Processors, please check [TI Edge AI Cloud](https://dev.ti.com/edgeai/). The Robotics SDK provides a versatile vision CNN node optimized for TI Processors that supports many deep-learning models for object detection, semantic segmentation, and 6D pose estimation operations.
+
+Figure 2 shows a representative deep-learning and compute-intensive demo application developed with the Robotics SDK.
+
+
+Figure 2. Example Demo Application with Robotics SDK
+
+
+## Setting Up Robotics SDK Docker Container Environment
+
+This section describes how to set up the Robotics SDK on top of the Processor SDK Linux for Edge AI. To get started, please refer to our [Setting Up Robotics SDK](docker/README.md) guide.
+
+## Sensor Driver Nodes
+
+The following ROS nodes for cameras and radar sensors are supported by the SDK:
+
+```{only} tag_j7x
+- [USB Stereo Camera Capture Node for ZED Cameras](ros2/drivers/zed_capture/README.md)
+- [GStreamer-based Camera Capture Node](ros2/drivers/gscam2/README_TI.md)
+- [USB Mono Camera Capture Node](ros2/drivers/mono_capture/README.md)
+- [mmWave Radar Driver Node](docs/radar_driver_node_ros2.md)
+```
+```{only} tag_am62a
+- [GStreamer-based Camera Capture Node](ros2/drivers/gscam2/README_TI.md)
+- [USB Mono Camera Capture Node](ros2/drivers/mono_capture/README.md)
+- [mmWave Radar Driver Node](docs/radar_driver_node_ros2.md)
+```
+
+## Demo Applications
+
+The SDK supports the following out-of-box demo applications:
+
+```{only} tag_j7x
+- [Stereo Vision Processing Accelerated on LDC and SDE](ros2/nodes/ti_sde/README.md)
+- [Semantic Segmentation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README.md)
+- [Object Detection CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_objdet.md)
+- [6D Pose Estimation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_6D_pose.md)
+- [Human Pose Estimation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_humanpose.md)
+- [3D Obstacle Detection Accelerated on SDE and C7x/MMA](ros2/nodes/ti_estop/README.md)
+- [Vision Object Detection with 3D Spatial Information](ros2/nodes/ti_objdet_range/README.md)
+- [Camera + Radar Fusion Accelerated on C7x/MMA](ros2/nodes/ti_objdet_radar/README.md)
+- [Visual Localization Accelerated on C7x/MMA](ros2/nodes/ti_vl/README.md) (for TDA4VM, AM68A, and AM69A only)
+
+```
+```{only} tag_am62a
+- [Semantic Segmentation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README.md)
+- [Object Detection CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_objdet.md)
+- [Human Pose Estimation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_humanpose.md)
+- [Camera + Radar Fusion Accelerated on C7x/MMA](ros2/nodes/ti_objdet_radar/README.md)
+
+```
+
+```{only} tag_j7x
+
+```
+```{only} tag_am62a
+
+```
+
+
+
+Figure 3. Demo Application Examples
+
+
+## Scope of Robotics SDK
+
+```{only} tag_j7x
+
+
+\* Visual location is supported only on TDA4VM, AM68A, and AM69A.
+```
+```{only} tag_am62a
+
+```
+
+## Limitations and Known Issues
+
+See [known_issues.md](docs/known_issues.md) for a list of limitations and known issues.
+
+## Change Log
+
+See [CHANGELOG.md](CHANGELOG.md) for the change log.
+
+## Questions & Feedback
+
+If you have any questions or feedback, please visit [TI E2E](https://e2e.ti.com/support/processors).
diff --git a/ros2/drivers/mono_capture/README.md b/ros2/drivers/mono_capture/README.md
index 93f3890..2c2bf19 100644
--- a/ros2/drivers/mono_capture/README.md
+++ b/ros2/drivers/mono_capture/README.md
@@ -28,7 +28,7 @@ Mono Camera Tools and Capture Node
```
For examples of how to use the tool, please refer to `$SDK_DIR/tools/mono_camera/calib_C920.sh`.
-2. **Rectification Map Generatio**n: A Python tool is provided for generating rectification map: `$SDK_DIR/tools/mono_camera/generate_rect_map_mono.py`. This tool takes the `camera_info` YAML file as input and generates a binary file for undistortion/rectification look-up-table (LUT). The generated LUT is required for offloading the undistortion/rectification processes to the VPAC/LDC hardware accelerator. Below is the usage of the tool.
+2. **Rectification Map Generation**: A Python tool is provided for generating rectification map: `$SDK_DIR/tools/mono_camera/generate_rect_map_mono.py`. This tool takes the `camera_info` YAML file as input and generates a binary file for undistortion/rectification look-up-table (LUT). The generated LUT is required for offloading the undistortion/rectification processes to the VPAC/LDC hardware accelerator. Below is the usage of the tool.
```
usage: generate_rect_map_mono.py [-h] [--input INPUT] [--name NAME]
@@ -52,19 +52,12 @@ This ROS node has only been tested with Logitech C920 and C270 webcams in 'YUYV'
1. Build the USB mono camera ROS node
```sh
cd $ROS_WS
- # ROS 1
- catkin_make --source /opt/robotics_sdk/ros1 --force-cmake
- source devel/setup.bash
- # ROS 2
colcon build --base-paths /opt/robotics_sdk/ros2 --cmake-force-configure
source install/setup.bash
```
2. Launch the mono camera node
```sh
- # ROS 1
- roslaunch mono_capture mono_capture.launch
- # ROS 2
ros2 launch mono_capture mono_capture_launch.py
```
diff --git a/ros2/drivers/zed_capture/README.md b/ros2/drivers/zed_capture/README.md
index ccb260c..5b20e71 100644
--- a/ros2/drivers/zed_capture/README.md
+++ b/ros2/drivers/zed_capture/README.md
@@ -31,19 +31,12 @@ This is a stereo camera ROS node for the ZED camera, based on the OpenCV VideoCa
3. Build the ZED camera ROS node
```sh
cd $ROS_WS
- # ROS 1
- catkin_make --source /opt/robotics_sdk/ros1 --force-cmake
- source devel/setup.bash
- # ROS 2
colcon build --base-paths /opt/robotics_sdk/ros2 --cmake-force-configure
source install/setup.bash
```
-4. Launch the ZED camera node: Update `zed_sn_str` in `launch/zed_capture.launch` (`launch/zed_capture_launch.py` in ROS 2. Remember to run `colcon build` after any modification in ROS 2), or pass as a lauch argument as follows:
+4. Launch the ZED camera node: Update `zed_sn_str` in `launch/zed_capture_launch.py`, or pass as a launch argument as follows:
```sh
- # ROS 1
- roslaunch zed_capture zed_capture.launch zed_sn_str:=SNxxxxx
- # ROS 2
ros2 launch zed_capture zed_capture_launch.py zed_sn_str:=SNxxxxx
```
## Stereo Camera Calibration
@@ -71,31 +64,3 @@ For cases where the ZED cameras needs to be recalibrated for some reason, we pro
When `encoding` is set to 'yuv422', the pixel format YUV422::YUYV from the ZED camera is converted to YUV422::UYVY format, considering the compatibility with LDC hardware accelerator.
-## Data Collection Steps
-
-1. Connect the ZED camera to UBS 3 port (it is recommended to use a USB type-A to type-C adaptor on TDA4VM). Check if the camera is recognized with the command `ls /dev/video*`. If necessary, update `launch/zed_capture.launch` to change video device, camera mode, frame rate, and etc.
-
-2. On the first terminal, launch the ZED capture node with following and keep it running:
- ```sh
- roslaunch zed_capture zed_capture.launch zed_sn_str:=SNxxxxx
- ```
-
-3. On the second terminal, to capture into ROS bag files, run one of two examples below
-
- ```sh
- # Collect 15 seconds of data and stop itself
- roslaunch zed_capture recordbag.launch
- # Save into a series of bag files, each keeping 15 seconds of data, until terminated with Ctrl+C
- roslaunch zed_capture recordbag_split.launch
- ```
-
-4. (Optional: to check the ROS topics) On 3rd terminal, run the following commands:
- ```sh
- rqt_image_view /camera/left/image_raw
- ```
-
-By default, ROS bag files are stored under `${HOME}/.ros` folder.
-
-```{note}
-It is not recommended to combine the `zed_capture` node and ROSBAG capture into a single launch file, as it takes several seconds for the ZED camera to settle down its ISP tuning after the ZED camera node is started.
-```
diff --git a/ros2/nodes/ti_objdet_range/README.md b/ros2/nodes/ti_objdet_range/README.md
index ba2beff..d17c3f1 100644
--- a/ros2/nodes/ti_objdet_range/README.md
+++ b/ros2/nodes/ti_objdet_range/README.md
@@ -22,29 +22,6 @@ This demo takes stereo camera raw images either from ROSBAG file or live ZED cam
## Demo: 2D Object Detection with XYZ Information
-````{only} tag_ros1n2
-Launch the following launch file in the ROS 1 Docker container on the target.
-
-**[SK]**
-With stereo camera images from ROSBAG file:
-```
-roslaunch ti_objdet_range bag_objdet_range.launch
-```
-
-With a live ZED stereo camera as input:
-```
-roslaunch ti_objdet_range zed_objdet_range.launch video_id:=x zed_sn:=SNxxxxx
-```
-Please replace `x` and `SNxxxxx` based on your your set up.
-
-**[Visualization on Ubuntu PC]**
-Launch the following launch file in the remote PC ROS 1 Docker container.
-```
-roslaunch ti_viz_nodes rviz_objdet_range.launch
-```
-````
-
-````{only} tag_ros2only
Launch the following launch file in the ROS 2 Docker container on the target.
**[SK]**
@@ -64,7 +41,6 @@ Launch the following launch file in the remote PC ROS 2 Docker container.
```
ros2 launch ti_viz_nodes rviz_objdet_range_launch.py
```
-````
## Launch File Parameters
diff --git a/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py
index 41b2d1e..23cd605 100644
--- a/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py
+++ b/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py
@@ -50,7 +50,7 @@ def generate_launch_description():
# ref: https://answers.ros.org/question/384712/ros2-launch-how-to-concatenate-launchconfiguration-with-string/?answer=384740
lut_file_path_arg = DeclareLaunchArgument(
- "lut_file_path", default_value=os.path.join(config_dir, LaunchConfiguration('zed_sn') + '_HD_LUT_right.bin')
+ "lut_file_path", default_value=[config_dir, '/', LaunchConfiguration('zed_sn'), '_HD_LUT_right.bin']
)
# Include OBJDET launch file
diff --git a/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py
index 9418f33..756505a 100644
--- a/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py
+++ b/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py
@@ -32,7 +32,7 @@ def generate_launch_description():
)
lut_file_path_arg = DeclareLaunchArgument(
- "lut_file_path", default_value=os.path.join(config_dir, LaunchConfiguration('zed_sn') + '_HD_LUT_right.bin')
+ "lut_file_path", default_value=[config_dir, '/', LaunchConfiguration('zed_sn'), '_HD_LUT_right.bin']
)
# Include SEMSEG launch file
Credits
Licenses
- Jacinto_ROS_Perception Licenses + Robotics SDK Licenses
-
Jacinto_ROS_Perception License
-----------------------------
/*
Copyright (c) 2020 Texas Instruments Incorporated
All rights reserved not granted herein.
Limited License.
Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive license under copyrights and patents it now or hereafter owns or controls to make, have made, use, import, offer to sell and sell ("Utilize") this software subject to the terms herein. With respect to the foregoing patent license, such license is granted solely to the extent that any such patent is necessary to Utilize the software alone. The patent license shall not apply to any combinations which include this software, other than combinations with devices manufactured by or for TI ("TI Devices"). No hardware patent is licensed hereunder.
Redistributions must preserve existing copyright notices and reproduce this license (including the above copyright notice and the disclaimer and (if applicable) source code license limitations below) in the documentation and/or other materials provided with the distribution
Redistribution and use in binary form, without modification, are permitted provided that the following conditions are met:
* No reverse engineering, decompilation, or disassembly of this software is permitted with respect to any software provided in binary form.
* any redistribution and use are licensed by TI for use only with TI Devices.
* Nothing shall obligate TI to provide you with source code for the software licensed and provided to you in object code.
If software source code is provided to you, modification and redistribution of the source code are permitted provided that the following conditions are met:
* any redistribution and use of the source code, including any resulting derivative works, are licensed by TI for use only with TI Devices.
* any redistribution and use of any object code compiled from the source code and any resulting derivative works, are licensed by TI for use only with TI Devices.
Neither the name of Texas Instruments Incorporated nor the names of its suppliers may be used to endorse or promote products derived from this software without specific prior written permission.
DISCLAIMER.
THIS SOFTWARE IS PROVIDED BY TI AND TI"S LICENSORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL TI AND TI"S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
zed_cpu_ros License
--------------------
Copyright (c) 2016, Transcend Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ -----------------------------
/*
Copyright (c) 2020 Texas Instruments Incorporated
All rights reserved not granted herein.
Limited License.
Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive license under copyrights and patents it now or hereafter owns or controls to make, have made, use, import, offer to sell and sell ("Utilize") this software subject to the terms herein. With respect to the foregoing patent license, such license is granted solely to the extent that any such patent is necessary to Utilize the software alone. The patent license shall not apply to any combinations which include this software, other than combinations with devices manufactured by or for TI ("TI Devices"). No hardware patent is licensed hereunder.
Redistributions must preserve existing copyright notices and reproduce this license (including the above copyright notice and the disclaimer and (if applicable) source code license limitations below) in the documentation and/or other materials provided with the distribution
Redistribution and use in binary form, without modification, are permitted provided that the following conditions are met:
* No reverse engineering, decompilation, or disassembly of this software is permitted with respect to any software provided in binary form.
* any redistribution and use are licensed by TI for use only with TI Devices.
* Nothing shall obligate TI to provide you with source code for the software licensed and provided to you in object code.
If software source code is provided to you, modification and redistribution of the source code are permitted provided that the following conditions are met:
* any redistribution and use of the source code, including any resulting derivative works, are licensed by TI for use only with TI Devices.
* any redistribution and use of any object code compiled from the source code and any resulting derivative works, are licensed by TI for use only with TI Devices.
Neither the name of Texas Instruments Incorporated nor the names of its suppliers may be used to endorse or promote products derived from this software without specific prior written permission.
DISCLAIMER.
THIS SOFTWARE IS PROVIDED BY TI AND TI"S LICENSORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL TI AND TI"S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
zed_cpu_ros License
--------------------
Copyright (c) 2016, Transcend Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Robotics SDK License
--------------------
/*
Copyright (c) 2020 Texas Instruments Incorporated
All rights reserved not granted herein.
Limited License.
Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive license under copyrights and patents it now or hereafter owns or controls to make, have made, use, import, offer to sell and sell ("Utilize") this software subject to the terms herein. With respect to the foregoing patent license, such license is granted solely to the extent that any such patent is necessary to Utilize the software alone. The patent license shall not apply to any combinations which include this software, other than combinations with devices manufactured by or for TI ("TI Devices"). No hardware patent is licensed hereunder.
Redistributions must preserve existing copyright notices and reproduce this license (including the above copyright notice and the disclaimer and (if applicable) source code license limitations below) in the documentation and/or other materials provided with the distribution
Redistribution and use in binary form, without modification, are permitted provided that the following conditions are met:
* No reverse engineering, decompilation, or disassembly of this software is permitted with respect to any software provided in binary form.
* any redistribution and use are licensed by TI for use only with TI Devices.
* Nothing shall obligate TI to provide you with source code for the software licensed and provided to you in object code.
If software source code is provided to you, modification and redistribution of the source code are permitted provided that the following conditions are met:
* any redistribution and use of the source code, including any resulting derivative works, are licensed by TI for use only with TI Devices.
* any redistribution and use of any object code compiled from the source code and any resulting derivative works, are licensed by TI for use only with TI Devices.
Neither the name of Texas Instruments Incorporated nor the names of its suppliers may be used to endorse or promote products derived from this software without specific prior written permission.
DISCLAIMER.
THIS SOFTWARE IS PROVIDED BY TI AND TI"S LICENSORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL TI AND TI"S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
zed_cpu_ros License
--------------------
Copyright (c) 2016, Transcend Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--------------------
/*
Copyright (c) 2020 Texas Instruments Incorporated
All rights reserved not granted herein.
Limited License.
Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive license under copyrights and patents it now or hereafter owns or controls to make, have made, use, import, offer to sell and sell ("Utilize") this software subject to the terms herein. With respect to the foregoing patent license, such license is granted solely to the extent that any such patent is necessary to Utilize the software alone. The patent license shall not apply to any combinations which include this software, other than combinations with devices manufactured by or for TI ("TI Devices"). No hardware patent is licensed hereunder.
Redistributions must preserve existing copyright notices and reproduce this license (including the above copyright notice and the disclaimer and (if applicable) source code license limitations below) in the documentation and/or other materials provided with the distribution
Redistribution and use in binary form, without modification, are permitted provided that the following conditions are met:
* No reverse engineering, decompilation, or disassembly of this software is permitted with respect to any software provided in binary form.
* any redistribution and use are licensed by TI for use only with TI Devices.
* Nothing shall obligate TI to provide you with source code for the software licensed and provided to you in object code.
If software source code is provided to you, modification and redistribution of the source code are permitted provided that the following conditions are met:
* any redistribution and use of the source code, including any resulting derivative works, are licensed by TI for use only with TI Devices.
* any redistribution and use of any object code compiled from the source code and any resulting derivative works, are licensed by TI for use only with TI Devices.
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--------------------
Copyright (c) 2016, Transcend Robotics
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+ +### TI Vision Apps Library + +The TI Vision Apps Library is included in the pre-built base image for the Processor SDK Linux for Edge AI. The library provides a set of APIs, including: + +- TI OpenVX kernels and software infrastructure +- Imaging and vision applications +- Perception applications +- Advanced driver-assistance systems (ADAS) applications + +### Open-Source Deep-Learning Runtime + +The Processor SDK Linux for Edge AI also supports the following open-source deep-learning runtime libraries: + +- TVM/Neo-AI-DLR +- TFLite Runtime +- ONNX Runtime + +For more details on open-source deep-learning runtime on TI Processors, please check [TI Edge AI Cloud](https://dev.ti.com/edgeai/). The Robotics SDK provides a versatile vision CNN node optimized for TI Processors that supports many deep-learning models for object detection, semantic segmentation, and 6D pose estimation operations. + +Figure 2 shows a representative deep-learning and compute-intensive demo application developed with the Robotics SDK. + + +
+ +## Setting Up Robotics SDK Docker Container Environment + +This section describes how to set up the Robotics SDK on top of the Processor SDK Linux for Edge AI. To get started, please refer to our [Setting Up Robotics SDK](docker/README.md) guide. + +## Sensor Driver Nodes + +The following ROS nodes for cameras and radar sensors are supported by the SDK: + +```{only} tag_j7x +- [USB Stereo Camera Capture Node for ZED Cameras](ros2/drivers/zed_capture/README.md) +- [GStreamer-based Camera Capture Node](ros2/drivers/gscam2/README_TI.md) +- [USB Mono Camera Capture Node](ros2/drivers/mono_capture/README.md) +- [mmWave Radar Driver Node](docs/radar_driver_node_ros2.md) +``` +```{only} tag_am62a +- [GStreamer-based Camera Capture Node](ros2/drivers/gscam2/README_TI.md) +- [USB Mono Camera Capture Node](ros2/drivers/mono_capture/README.md) +- [mmWave Radar Driver Node](docs/radar_driver_node_ros2.md) +``` + +## Demo Applications + +The SDK supports the following out-of-box demo applications: + +```{only} tag_j7x +- [Stereo Vision Processing Accelerated on LDC and SDE](ros2/nodes/ti_sde/README.md) +- [Semantic Segmentation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README.md) +- [Object Detection CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_objdet.md) +- [6D Pose Estimation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_6D_pose.md) +- [Human Pose Estimation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_humanpose.md) +- [3D Obstacle Detection Accelerated on SDE and C7x/MMA](ros2/nodes/ti_estop/README.md) +- [Vision Object Detection with 3D Spatial Information](ros2/nodes/ti_objdet_range/README.md) +- [Camera + Radar Fusion Accelerated on C7x/MMA](ros2/nodes/ti_objdet_radar/README.md) +- [Visual Localization Accelerated on C7x/MMA](ros2/nodes/ti_vl/README.md) (for TDA4VM, AM68A, and AM69A only) + +``` +```{only} tag_am62a +- [Semantic Segmentation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README.md) +- [Object Detection CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_objdet.md) +- [Human Pose Estimation CNN Accelerated on C7x/MMA](ros2/nodes/ti_vision_cnn/README_humanpose.md) +- [Camera + Radar Fusion Accelerated on C7x/MMA](ros2/nodes/ti_objdet_radar/README.md) + +``` + +```{only} tag_j7x + +``` +```{only} tag_am62a + +``` + + + +
+ +## Scope of Robotics SDK + +```{only} tag_j7x + + +\* Visual location is supported only on TDA4VM, AM68A, and AM69A. +``` +```{only} tag_am62a + +``` + +## Limitations and Known Issues + +See [known_issues.md](docs/known_issues.md) for a list of limitations and known issues. + +## Change Log + +See [CHANGELOG.md](CHANGELOG.md) for the change log. + +## Questions & Feedback + +If you have any questions or feedback, please visit [TI E2E](https://e2e.ti.com/support/processors). diff --git a/ros2/drivers/mono_capture/README.md b/ros2/drivers/mono_capture/README.md index 93f3890..2c2bf19 100644 --- a/ros2/drivers/mono_capture/README.md +++ b/ros2/drivers/mono_capture/README.md @@ -28,7 +28,7 @@ Mono Camera Tools and Capture Node ``` For examples of how to use the tool, please refer to `$SDK_DIR/tools/mono_camera/calib_C920.sh`. -2. **Rectification Map Generatio**n: A Python tool is provided for generating rectification map: `$SDK_DIR/tools/mono_camera/generate_rect_map_mono.py`. This tool takes the `camera_info` YAML file as input and generates a binary file for undistortion/rectification look-up-table (LUT). The generated LUT is required for offloading the undistortion/rectification processes to the VPAC/LDC hardware accelerator. Below is the usage of the tool. +2. **Rectification Map Generation**: A Python tool is provided for generating rectification map: `$SDK_DIR/tools/mono_camera/generate_rect_map_mono.py`. This tool takes the `camera_info` YAML file as input and generates a binary file for undistortion/rectification look-up-table (LUT). The generated LUT is required for offloading the undistortion/rectification processes to the VPAC/LDC hardware accelerator. Below is the usage of the tool. ``` usage: generate_rect_map_mono.py [-h] [--input INPUT] [--name NAME] @@ -52,19 +52,12 @@ This ROS node has only been tested with Logitech C920 and C270 webcams in 'YUYV' 1. Build the USB mono camera ROS node ```sh cd $ROS_WS - # ROS 1 - catkin_make --source /opt/robotics_sdk/ros1 --force-cmake - source devel/setup.bash - # ROS 2 colcon build --base-paths /opt/robotics_sdk/ros2 --cmake-force-configure source install/setup.bash ``` 2. Launch the mono camera node ```sh - # ROS 1 - roslaunch mono_capture mono_capture.launch - # ROS 2 ros2 launch mono_capture mono_capture_launch.py ``` diff --git a/ros2/drivers/zed_capture/README.md b/ros2/drivers/zed_capture/README.md index ccb260c..5b20e71 100644 --- a/ros2/drivers/zed_capture/README.md +++ b/ros2/drivers/zed_capture/README.md @@ -31,19 +31,12 @@ This is a stereo camera ROS node for the ZED camera, based on the OpenCV VideoCa 3. Build the ZED camera ROS node ```sh cd $ROS_WS - # ROS 1 - catkin_make --source /opt/robotics_sdk/ros1 --force-cmake - source devel/setup.bash - # ROS 2 colcon build --base-paths /opt/robotics_sdk/ros2 --cmake-force-configure source install/setup.bash ``` -4. Launch the ZED camera node: Update `zed_sn_str` in `launch/zed_capture.launch` (`launch/zed_capture_launch.py` in ROS 2. Remember to run `colcon build` after any modification in ROS 2), or pass as a lauch argument as follows: +4. Launch the ZED camera node: Update `zed_sn_str` in `launch/zed_capture_launch.py`, or pass as a launch argument as follows: ```sh - # ROS 1 - roslaunch zed_capture zed_capture.launch zed_sn_str:=SNxxxxx - # ROS 2 ros2 launch zed_capture zed_capture_launch.py zed_sn_str:=SNxxxxx ``` ## Stereo Camera Calibration @@ -71,31 +64,3 @@ For cases where the ZED cameras needs to be recalibrated for some reason, we pro When `encoding` is set to 'yuv422', the pixel format YUV422::YUYV from the ZED camera is converted to YUV422::UYVY format, considering the compatibility with LDC hardware accelerator. -## Data Collection Steps - -1. Connect the ZED camera to UBS 3 port (it is recommended to use a USB type-A to type-C adaptor on TDA4VM). Check if the camera is recognized with the command `ls /dev/video*`. If necessary, update `launch/zed_capture.launch` to change video device, camera mode, frame rate, and etc. - -2. On the first terminal, launch the ZED capture node with following and keep it running: - ```sh - roslaunch zed_capture zed_capture.launch zed_sn_str:=SNxxxxx - ``` - -3. On the second terminal, to capture into ROS bag files, run one of two examples below - - ```sh - # Collect 15 seconds of data and stop itself - roslaunch zed_capture recordbag.launch - # Save into a series of bag files, each keeping 15 seconds of data, until terminated with Ctrl+C - roslaunch zed_capture recordbag_split.launch - ``` - -4. (Optional: to check the ROS topics) On 3rd terminal, run the following commands: - ```sh - rqt_image_view /camera/left/image_raw - ``` - -By default, ROS bag files are stored under `${HOME}/.ros` folder. - -```{note} -It is not recommended to combine the `zed_capture` node and ROSBAG capture into a single launch file, as it takes several seconds for the ZED camera to settle down its ISP tuning after the ZED camera node is started. -``` diff --git a/ros2/nodes/ti_objdet_range/README.md b/ros2/nodes/ti_objdet_range/README.md index ba2beff..d17c3f1 100644 --- a/ros2/nodes/ti_objdet_range/README.md +++ b/ros2/nodes/ti_objdet_range/README.md @@ -22,29 +22,6 @@ This demo takes stereo camera raw images either from ROSBAG file or live ZED cam ## Demo: 2D Object Detection with XYZ Information -````{only} tag_ros1n2 -Launch the following launch file in the ROS 1 Docker container on the target. - -**[SK]** -With stereo camera images from ROSBAG file: -``` -roslaunch ti_objdet_range bag_objdet_range.launch -``` - -With a live ZED stereo camera as input: -``` -roslaunch ti_objdet_range zed_objdet_range.launch video_id:=x zed_sn:=SNxxxxx -``` -Please replace `x` and `SNxxxxx` based on your your set up. - -**[Visualization on Ubuntu PC]** -Launch the following launch file in the remote PC ROS 1 Docker container. -``` -roslaunch ti_viz_nodes rviz_objdet_range.launch -``` -```` - -````{only} tag_ros2only Launch the following launch file in the ROS 2 Docker container on the target. **[SK]** @@ -64,7 +41,6 @@ Launch the following launch file in the remote PC ROS 2 Docker container. ``` ros2 launch ti_viz_nodes rviz_objdet_range_launch.py ``` -```` ## Launch File Parameters diff --git a/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py index 41b2d1e..23cd605 100644 --- a/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py @@ -50,7 +50,7 @@ def generate_launch_description(): # ref: https://answers.ros.org/question/384712/ros2-launch-how-to-concatenate-launchconfiguration-with-string/?answer=384740 lut_file_path_arg = DeclareLaunchArgument( - "lut_file_path", default_value=os.path.join(config_dir, LaunchConfiguration('zed_sn') + '_HD_LUT_right.bin') + "lut_file_path", default_value=[config_dir, '/', LaunchConfiguration('zed_sn'), '_HD_LUT_right.bin'] ) # Include OBJDET launch file diff --git a/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py index 9418f33..756505a 100644 --- a/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py @@ -32,7 +32,7 @@ def generate_launch_description(): ) lut_file_path_arg = DeclareLaunchArgument( - "lut_file_path", default_value=os.path.join(config_dir, LaunchConfiguration('zed_sn') + '_HD_LUT_right.bin') + "lut_file_path", default_value=[config_dir, '/', LaunchConfiguration('zed_sn'), '_HD_LUT_right.bin'] ) # Include SEMSEG launch file