Isaac ROS NITROS

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.

Quickstarts

• Isaac ROS NITROS

Packages

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Jetson or an x86_64 system with an NVIDIA GPU.

Docker

To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following these steps. This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms.

Customize your Dev Environment

To customize your development environment, reference this guide.

Updates