sensing: add the SENSING SG8A SIPL camera plugin

[jiwenc-nv]

Description

Stack 3/3 — depends on #1078 (which depends on #1077). Review that order; this PR's diff is only the plugin.

New C++ plugin camera_plugin_sensing for the SENSING SG8A-AGON-G2Y-A1 GMSL carrier on a Jetson AGX Orin (JetPack 7.2.1 / L4T R39.2.1). It captures two Astra SHW5G at 2560×1984 @ 60 through SIPL and either encodes H.264 on the V4L2 M2M engine or publishes frames over the CUDA IPC transport from #1078.

The carrier ships no kernel sensor drivers and no /dev/video* — SIPL owns the sensors from userspace — so there is no daemon, no per-boot module load and no V4L2 controls.

Four SIPL requirements look arbitrary and are not: call ordering around Init(), mandatory ICP buffers, NeedCpuAccess on the producer attribute list, and REC709_ER on ISP0. Each is commented where it is enforced; getting any of them wrong fails silently or with a status code that names nothing.

--add-stream sensor=N is the SIPL pipeline index (0 and 1), not the GMSL link index, CSI virtual channel, or JSON sensorInfo.id — all of which are 2 and 3 on this rig.

Auto-exposure saturates with sensor gain pinned at 1.0. That reproduces in NVIDIA's own nvsipl_camera, so it is upstream; tracked in #1076.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

AGX Orin, JetPack 7.2.1 / L4T R39.2.1, SG8A carrier with two Astra SHW5G:

• Both sensors at 60 fps, zero drops, rendered by camera_viz in window mode and in XR.
• Runs as the ordinary container user: no root, no capabilities, only video / i2c / gpio.
• --list-sensors and ctest -R sipl_query assert pipeline indices and geometry with no camera attached.
• SKIP=check-copyright-year pre-commit run --all-files passes.

H.264 recording and the MCAP metadata path are not yet verified end to end on this rig.

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

[coderabbitai]

Important

Draft PR not reviewed

Draft PRs are not automatically reviewed by default.

• Trigger a manual review

To automatically review draft PRs, update your CodeRabbit configuration:

reviews:
  auto_review:
    drafts: true

---

_{Comment @coderabbitai help to get the list of available commands.}

[jiwenc-nv]

/preview-docs

[github-actions]

✅ Preview deployed: https://NVIDIA.github.io/IsaacTeleop/preview/pr-998/