Isaac ROS NITROS

NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages.

Overview

Isaac ROS NITROS contains NVIDIA’s implementation of type adaptation and negotiation in ROS 2. To learn more about NITROS, see here.

Isaac ROS NITROS is composed of a number of individual packages, each with either a functional or structural purpose:

isaac_ros_gxf:

This package serves as a container for precompiled GXF extensions used by other Isaac ROS packages. While a number of GXF extensions used by Isaac ROS are provided with source, the extensions contained in isaac_ros_gxf are license constrained and are thus shipped as .so binaries.

isaac_ros_managed_nitros:

This package contains the wrapper classes that enable developers to add NITROS-compatible publishers and subscribers to third-party CUDA-based ROS nodes. For more information about CUDA with NITROS, see here.

isaac_ros_nitros:

This package contains the base NitrosNode class and associated core utilities that serve as the foundation for all NITROS-based ROS nodes.

isaac_ros_nitros_interfaces:

This package contains the definitions of the custom ROS 2 interfaces that facilitate type negotiation between NITROS nodes.

isaac_ros_nitros_topic_tools:

This folder contains a NITROS based implementation of some of the nodes in the topic_tools package.

isaac_ros_nitros_type:

This folder contains a number of packages, each defining a specific NITROS type and the associated type adaptation logic to convert to and from a standard ROS type.

isaac_ros_pynitros:

This folder contains the implementation of Python NITROS.

Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

Packages

• isaac_ros_gxf
• isaac_ros_managed_nitros
• isaac_ros_nitros
  • Quickstart
• Isaac ROS NITROS Bridge
  • Overview
  • Performance
  • Packages
  • Quickstart
  • Try Another Example
  • Troubleshooting
  • Updates
• isaac_ros_nitros_bridge_ros1
  • API
• isaac_ros_nitros_bridge_ros2
  • API
• isaac_ros_nitros_interfaces
• isaac_ros_nitros_topic_tools
  • NitrosCameraDrop Node
• isaac_ros_nitros_type
• isaac_ros_pynitros
  • Creating PyNITROS-Accelerated Nodes
  • Quickstart
  • Try More Examples
  • API Reference

Latest

Update 2024-12-10: Update to be compatible with JetPack 6.1