NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_nitros
Add optimization rule for subgraph prerequisite entity
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- Dominant language
- C++
- Stars
- 220
- Forks
- 55
- PR merge metrics
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Description
Issue
I want to load a subgraph, roughly defined as:
%YAML1.2
---
prerequisites:
- name: format
---
components:
- name: client
parameters:
format: prerequisites/format
in another graph, also roughly defined as:
%YAML1.2
---
name: config
components:
- name: format
# type, parameters, etc.
---
components:
- type: nvidia::gxf::Subgraph
parameters:
location: <path/to/subgraph.yaml>
prerequisites:
format: config/format
As you can see, I am trying to pass a component of another entity as a prerequisite of the subgraph.
For the gxf optimizer to work I have to define a proper optimization rule in the namespace injector rule file:
%YAML 1.2
---
operation: namespace_injector
body:
components:
- type: nvidia::gxf::Subgraph
path_parameter_keys: [ <???> ]
Issue
What is the syntax to define an optimization rule for the prerequisite component parameter?
I have tried:
prerequisites.formatprerequisites/formatprerequisites: [ format ]prerequisitesformat
and none of them provided the desired result.
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with the namespace injector rule file and the nvidia::gxf::Subgraph entry shown in the issue; compare how path_parameter_keys is defined for prerequisite component parameters. Confirm the accepted key syntax by checking the optimizer's handling of the prerequisites parameter, then verify that config/format resolves to the subgraph's prerequisite.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- tooling
- Issue type
- Feature
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100