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
No merged PRs in 30d

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.format
  • prerequisites/format
  • prerequisites: [ format ]
  • prerequisites
  • format

and none of them provided the desired result.

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First steps

  1. Read the whole issue, then the project's contributing guide.
  2. Comment on the issue to say you are picking it up — it saves two people doing the same work.
  3. Fork the repository and make your change on a branch.
  4. 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

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