Merge pull request #32 from NVIDIA-ISAAC-ROS/release-3.2

Isaac ROS 3.2
NVIDIA-ISAAC-ROS · Dec 11, 2024 · 7cdfd6e · 7cdfd6e
2 parents 6058ca5 + 9e0f216
commit 7cdfd6e
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diff --git a/README.md b/README.md
@@ -44,11 +44,11 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 ## Performance
 
-| Sample Graph<br/><br/>                                                                                                                                                                                                                  | Input Size<br/><br/>     | AGX Orin<br/><br/>                                                                                                                                                   | Orin NX<br/><br/>                                                                                                                                                    | Orin Nano 8GB<br/><br/>                                                                                                                                               | x86_64 w/ RTX 4060 Ti<br/><br/>                                                                                                                                       | x86_64 w/ RTX 4090<br/><br/>                                                                                                                                        |
-|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_segment_anything_graph.py)<br/><br/><br/>Full SAM<br/><br/>          | 720p<br/><br/><br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-agx_orin.json)<br/><br/><br/>470 ms @ 30Hz<br/><br/>        | –<br/><br/><br/><br/>                                                                                                                                                | –<br/><br/><br/><br/>                                                                                                                                                 | –<br/><br/><br/><br/>                                                                                                                                                 | [14.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-x86_4090.json)<br/><br/><br/>79 ms @ 30Hz<br/><br/>        |
-| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_mobile_segment_anything_graph.py)<br/><br/><br/>Mobile SAM<br/><br/> | 720p<br/><br/><br/><br/> | [10.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-agx_orin.json)<br/><br/><br/>880 ms @ 30Hz<br/><br/> | [5.13 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nx.json)<br/><br/><br/>1500 ms @ 30Hz<br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nano.json)<br/><br/><br/>360 ms @ 30Hz<br/><br/> | [27.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-nuc_4060ti.json)<br/><br/><br/>62 ms @ 30Hz<br/><br/> | [60.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-x86_4090.json)<br/><br/><br/>27 ms @ 30Hz<br/><br/> |
-| [TensorRT Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_unet_benchmark/scripts/isaac_ros_unet_graph.py)<br/><br/><br/>PeopleSemSegNet<br/><br/>                                         | 544p<br/><br/><br/><br/> | [371 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-agx_orin.json)<br/><br/><br/>19 ms @ 30Hz<br/><br/>         | [250 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nx.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/>          | [163 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nano.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/>         | [670 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-nuc_4060ti.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/>        | [688 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-x86_4090.json)<br/><br/><br/>9.3 ms @ 30Hz<br/><br/>       |
+| Sample Graph<br/><br/>                                                                                                                                                                                                                  | Input Size<br/><br/>     | AGX Orin<br/><br/>                                                                                                                                                   | Orin NX<br/><br/>                                                                                                                                                    | Orin Nano 8GB<br/><br/>                                                                                                                                               | x86_64 w/ RTX 4090<br/><br/>                                                                                                                                        |
+|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_segment_anything_graph.py)<br/><br/><br/>Full SAM<br/><br/>          | 720p<br/><br/><br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-agx_orin.json)<br/><br/><br/>390 ms @ 30Hz<br/><br/>        | –<br/><br/><br/><br/>                                                                                                                                                | –<br/><br/><br/><br/>                                                                                                                                                 | [16.4 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_sam_graph-x86-4090.json)<br/><br/><br/>280 ms @ 30Hz<br/><br/>       |
+| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_mobile_segment_anything_graph.py)<br/><br/><br/>Mobile SAM<br/><br/> | 720p<br/><br/><br/><br/> | [8.75 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-agx_orin.json)<br/><br/><br/>570 ms @ 30Hz<br/><br/> | [5.34 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nx.json)<br/><br/><br/>1400 ms @ 30Hz<br/><br/> | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-orin_nano.json)<br/><br/><br/>340 ms @ 30Hz<br/><br/> | [68.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_mobile_sam_graph-x86-4090.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/> |
+| [TensorRT Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_unet_benchmark/scripts/isaac_ros_unet_graph.py)<br/><br/><br/>PeopleSemSegNet<br/><br/>                                         | 544p<br/><br/><br/><br/> | [371 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-agx_orin.json)<br/><br/><br/>19 ms @ 30Hz<br/><br/>         | [250 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nx.json)<br/><br/><br/>20 ms @ 30Hz<br/><br/>          | [163 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-orin_nano.json)<br/><br/><br/>23 ms @ 30Hz<br/><br/>         | [670 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_unet_graph-nuc_4060ti.json)<br/><br/><br/>11 ms @ 30Hz<br/><br/>      |
 
 ---
 
@@ -78,4 +78,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-09-26: Update for ZED compatibility
+Update 2024-12-10: Update to be compatible with JetPack 6.1
diff --git a/isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/CMakeLists.txt b/isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/CMakeLists.txt
@@ -63,4 +63,10 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 # Install the binary file
 install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE)
diff --git a/isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/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_ros_segment_anything</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Segmentation Anything extension.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_gxf_extensions/gxf_isaac_ros_unet/CMakeLists.txt b/isaac_ros_gxf_extensions/gxf_isaac_ros_unet/CMakeLists.txt
@@ -70,5 +70,11 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 # Install the binary file
 install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib)
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE)
 
diff --git a/isaac_ros_gxf_extensions/gxf_isaac_ros_unet/package.xml b/isaac_ros_gxf_extensions/gxf_isaac_ros_unet/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_ros_unet</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Segmentation post-processor extension.</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_peoplesemseg_models_install/CMakeLists.txt b/isaac_ros_peoplesemseg_models_install/CMakeLists.txt
@@ -29,4 +29,10 @@ install_isaac_ros_asset(install_peoplesemsegnet_shuffleseg)
 install(PROGRAMS asset_scripts/install_peoplesemsegnet_shuffleseg.sh DESTINATION lib/${PROJECT_NAME})
 install(PROGRAMS asset_scripts/install_peoplesemsegnet_vanilla.sh DESTINATION lib/${PROJECT_NAME})
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE)
diff --git a/isaac_ros_peoplesemseg_models_install/asset_scripts/install_peoplesemsegnet_shuffleseg.sh b/isaac_ros_peoplesemseg_models_install/asset_scripts/install_peoplesemsegnet_shuffleseg.sh
@@ -7,17 +7,17 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-# Download and tao-convert ESS models.
+# Download and TRT-compile PeopleSemSeg-ShuffleSeg models.
 # * Models will be stored in the isaac_ros_assets dir
 # * The script must be called with the --eula argument prior to downloading.
 
 set -e
 
-ASSET_NAME="deployable_shuffleseg_unet_amr_v1.0"
-EULA_URL="https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplesemsegnet_amr"
+ASSET_NAME="optimized_deployable_shuffleseg_unet_amr_v1.0"
+EULA_URL="https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/models/optimized-peoplesemseg-amr"
 ASSET_DIR="${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/${ASSET_NAME}"
 ASSET_INSTALL_PATHS="${ASSET_DIR}/1/model.plan"
-MODEL_URL="https://api.ngc.nvidia.com/v2/models/org/nvidia/team/tao/peoplesemsegnet_amr/deployable_v1.1/files?redirect=true&path=peoplesemsegnet_amr_rel.onnx"
+MODEL_URL="https://api.ngc.nvidia.com/v2/models/org/nvidia/team/isaac/optimized-peoplesemseg-amr/v1.0/files?redirect=true&path=model.onnx"
 
 source "isaac_ros_asset_eula.sh"
 
@@ -27,9 +27,9 @@ wget "${MODEL_URL}" -O "${ASSET_DIR}/model.onnx"
 
 echo "Converting PeopleSemSegnet shuffleseg amr onnx file to plan file."
 /usr/src/tensorrt/bin/trtexec \
-    --maxShapes="input_2:0":1x3x544x960 \
-    --minShapes="input_2:0":1x3x544x960 \
-    --optShapes="input_2:0":1x3x544x960 \
+    --maxShapes="input_2":1x544x960x3 \
+    --minShapes="input_2":1x544x960x3 \
+    --optShapes="input_2":1x544x960x3 \
     --fp16 \
     --saveEngine="${ASSET_INSTALL_PATHS}" \
     --onnx="${ASSET_DIR}/model.onnx"
@@ -41,9 +41,9 @@ platform: "tensorrt_plan"
 max_batch_size: 0
 input [
   {
-    name: "input_2:0"
+    name: "input_2"
     data_type: TYPE_FP32
-    dims: [ 1, 3, 544, 960 ]
+    dims: [ 1, 544, 960, 3 ]
   }
 ]
 output [

diff --git a/isaac_ros_peoplesemseg_models_install/asset_scripts/install_peoplesemsegnet_vanilla.sh b/isaac_ros_peoplesemseg_models_install/asset_scripts/install_peoplesemsegnet_vanilla.sh
@@ -7,33 +7,33 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-# Download and tao-convert ESS models.
+# Download and TRT-compile PeopleSemSeg-Vanilla models.
 # * Models will be stored in the isaac_ros_assets dir
 # * The script must be called with the --eula argument prior to downloading.
 
 set -e
 
-ASSET_NAME="deployable_quantized_vanilla_unet_v2.0"
+ASSET_NAME="deployable_quantized_vanilla_unet_onnx_v2.0"
 EULA_URL="https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplesemsegnet"
 ASSET_DIR="${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/${ASSET_NAME}"
 ASSET_INSTALL_PATHS="${ASSET_DIR}/1/model.plan"
-MODEL_URL="https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplesemsegnet/versions/deployable_quantized_vanilla_unet_v2.0/files/peoplesemsegnet_vanilla_unet_dynamic_etlt_int8_fp16.etlt"
+MODEL_URL="https://api.ngc.nvidia.com/v2/models/org/nvidia/team/tao/peoplesemsegnet/deployable_quantized_vanilla_unet_onnx_v2.0/files?redirect=true&path=peoplesemsegnet_vanilla_unet_dynamic_etlt_int8_fp16.onnx"
 
 source "isaac_ros_asset_eula.sh"
 
 mkdir -p $(dirname "$ASSET_INSTALL_PATHS")
 
-wget "${MODEL_URL}" -O "${ASSET_DIR}/model.etlt"
+wget "${MODEL_URL}" -O "${ASSET_DIR}/model.onnx"
 
-echo "Converting PeopleSemSegnet etlt file to plan file."
-/opt/nvidia/tao/tao-converter \
-    -k tlt_encode \
-    -d 3,544,960 \
-    -p input_1:0,1x3x544x960,1x3x544x960,1x3x544x960 \
-    -t fp16 \
-    -e "${ASSET_INSTALL_PATHS}" \
-    -o argmax_1 \
-    "${ASSET_DIR}/model.etlt"
+echo "Converting PeopleSemSegnet onnx file to plan file."
+/usr/src/tensorrt/bin/trtexec \
+    --maxShapes="input_1:0":1x3x544x960 \
+    --minShapes="input_1:0":1x3x544x960 \
+    --optShapes="input_1:0":1x3x544x960 \
+    --onnx="${ASSET_DIR}/model.onnx" \
+    --saveEngine="${ASSET_DIR}/1/model.plan" \
+    --fp16 \
+    --skipInference
 
 # Create config.pbtxt
 config_file_text=$(

diff --git a/isaac_ros_peoplesemseg_models_install/package.xml b/isaac_ros_peoplesemseg_models_install/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_peoplesemseg_models_install</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Scripts for installing people segmentation models</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_segformer/CMakeLists.txt b/isaac_ros_segformer/CMakeLists.txt
@@ -40,4 +40,10 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_segformer_pol_test.py TIMEOUT "300")
 endif()
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/isaac_ros_segformer/package.xml b/isaac_ros_segformer/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_segformer</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Segformer model processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

diff --git a/isaac_ros_segformer/test/dummy_model/.gitignore b/isaac_ros_segformer/test/dummy_model/.gitignore
@@ -0,0 +1,2 @@
+*.plan
+*.onnx
diff --git a/isaac_ros_segformer/test/dummy_model/.gitkeep b/isaac_ros_segformer/test/dummy_model/.gitkeep
diff --git a/isaac_ros_segformer/test/dummy_model/model.dummy.onnx b/isaac_ros_segformer/test/dummy_model/model.dummy.onnx
diff --git a/isaac_ros_segformer/test/isaac_ros_segformer_pol_test.py b/isaac_ros_segformer/test/isaac_ros_segformer_pol_test.py
@@ -32,20 +32,18 @@
 import time
 
 from ament_index_python.packages import get_package_share_directory
-from isaac_ros_test import IsaacROSBaseTest, JSONConversion
+from isaac_ros_test import IsaacROSBaseTest, JSONConversion, MockModelGenerator
 import launch
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions.composable_node_container import ComposableNodeContainer
 from launch_ros.descriptions.composable_node import ComposableNode
 import launch_testing
-
 import numpy as np
-
 import pytest
 import rclpy
-
 from sensor_msgs.msg import CameraInfo, Image
+import torch
 
 _TEST_CASE_NAMESPACE = 'segformer_node_test'
 
@@ -74,6 +72,17 @@ def generate_test_description():
         if e.errno != errno.ENOENT:
             print('File exists but error deleting /tmp/trt_engine.plan')
 
+    # Generate a mock model with SegFormer-like I/O
+    MockModelGenerator.generate(
+        input_bindings=[
+            MockModelGenerator.Binding('input', [-1, 3, 512, 512], torch.float32)
+        ],
+        output_bindings=[
+            MockModelGenerator.Binding('output', [-1, 1, 512, 512], torch.int64),
+        ],
+        output_onnx_path=model_file_path
+    )
+
     encoder_dir = get_package_share_directory('isaac_ros_dnn_image_encoder')
     encoder_node_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(

diff --git a/isaac_ros_segment_anything/CMakeLists.txt b/isaac_ros_segment_anything/CMakeLists.txt
@@ -79,4 +79,10 @@ if(BUILD_TESTING)
   add_launch_test(test/isaac_ros_segment_anything_point_prompt_pol.py TIMEOUT "300")
 endif()
 
+
+# Embed versioning information into installed files
+ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
+include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
+generate_version_info(${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE config launch)