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NVIDIA Isaac ROS

Discover a faster, easier way to build high-performance solutions with the NVIDIA Isaac™ Robot Operating System (ROS) collection of hardware-accelerated packages. It includes multiple open-source options and is designed to give ROS developers a whole new way to build on NVIDIA hardware such as NVIDIA® Jetson™.

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Key Benefits of Isaac ROS

High Throughput Perception

Isaac ROS provides individual packages (GEMs) and complete pipelines (NITROS) with image-processing and computer vision functionality. These solutions have been highly optimized for NVIDIA GPUs and NVIDIA Jetson platforms.

Modular, Flexible Packages

Modular packages allow any ROS developer to take exactly what they need to integrate in an application. This means that you can now replace an entire pipeline or simply swap out a single algorithm.

Reduced Development Times

Isaac ROS is similar to existing and familiar ROS 2 nodes, making it easier to integrate in existing applications.

A Rich Collection of Perception AI Packages

Explore the full range of ROS 2 nodes that wrap common image processing and computer vision–including DNN-based algorithms that are key to delivering high-performance perception and hardware acceleration to ROS-based robotics applications.

 Perception AI packages for Isaac ROS developers

What's New in Developer Preview 3

We have now open-sourced multiple Isaac ROS packages to help you modify and add new hardware acceleration functionalities to ROS 2.

isaac-ros-occupancy-grid-map-localizer

Occupancy Grid Map Localizer

Initial position of the robot is computed in less than one second–automatically–using the grid-search-localizer package. This eliminates the need to manually provide the initial position for navigation.

ros2-benchmark-tooling

ROS 2 Benchmark Tooling

This tooling provides performance measurement of graphs of nodes in open source. It allows for more realistic assessments of your applications under load, including message transport costs in ROS Client Library (RCL) for practical benchmarking indicative of your real-world performance.

isaac-ros-nvblox-human-detection

NvBlox With Human Detection

Generate clean 3D mesh in a crowded environment with the updated NvBlox Isaac ROS package. It can then detect and remove humans from the frames that nvblox processes.



NVIDIA Isaac Transport for ROS (NITROS)

 Hardware acceleration efficiency comparison for NITROS

The latest Humble ROS 2 release improves performance on compute platforms that offer hardware accelerators. It enables hardware-acceleration features for type adaptation and type negotiation, eliminating software/CPU overhead and improving performance of hardware acceleration.
The NVIDIA implementation of type adaption and negotiation is called NITROS. These are ROS processing pipelines made up of Isaac ROS hardware-accelerated modules (a.k.a. GEMs). The source code of NITROS is now available for developers to modify, extend, and use in your applications.

NVIDIA Isaac Transport for ROS

H.264 video encode and decode hardware-accelerated packages for NITROS are used for compressed camera data recording and playback for development of AI models and perception functions. They compress two 1080p stereo cameras at 30fps (>120fps total) and reduce the data footprint by ~10X.




Visual SLAM Based Localization

As autonomous machines move around in their environments, they must keep track of where they are. Visual odometry solves this problem by estimating where a camera is relative to its starting position. The Isaac ROS GEM for Stereo Visual Odometry provides this powerful functionality to ROS developers.

This GEM offers the best accuracy for a real-time stereo camera visual odometry solution. You can find publicly available results based on the widely used KITTI database here. For the KITTI benchmark, the algorithm achieves a drift of ~1% in localization and an orientation error of 0.003 degrees per meter of motion. In addition to being very accurate, this GPU-accelerated package runs extremely fast. In fact, it’s now possible to run SLAM in HD resolution (1280x720) in real time (>60fps) on an NVIDIA Jetson Xavier AGX™.

Isaac ROS Stereo Visual SLAM
Isaac ROS Stereo Visual Odometry



3D Scene Reconstruction With nvblox

nvblox for 3D scene reconstruction

Knowledge of a robot’s position alone isn't enough to safely navigate complex environments. Robots must also be able to discover obstacles on their own. nvblox (preview) uses RGB-D data to create a dense 3D representation of the robot's environment. This includes unforeseen obstacles that could cause a danger to the robot if not observed in real time.This data helps generate a temporal costmap for navigation stack.

Isaac ROS nvblox






DNN Inference Processing

DNN Inference GEM is a set of ROS 2 packages that allows developers to use any of NVIDIA’s numerous inference models available on NGC or even provide their own DNN. Further tuning of pre-trained models or optimizations of developers' own models can be done with the NVIDIA TAO Toolkit.

After optimization, these packages are deployed by TensorRT or Triton, NVIDIA’s inference server. Optimal inference performance will be achieved with the nodes using TensorRT, NVIDIA’s high-performance inference SDK. If the desired DNN model isn't supported by TensorRT, then Triton can be used to deploy the model.


Additional GEMs incorporating model support are available and include support for U-Net and DOPE. The U-Net package, based on TensorRT, can be used for generating semantic segmentation masks from images. The DOPE package can be used for 3D pose estimation for all detected objects.
DNN Inference GEM is the fastest way to incorporate performant AI inference in a ROS 2 application. The pretrained model–PeopleSemSegNet, pictured in the image (right)–runs at 325fps @544p on NVIDIA Jetson AGX Orin™.



Isaac ROS DNN Inference
Isaac ROS Pose Estimation
Isaac ROS Image Segmentation
DNN Inference GEM processing

Stereo Perception

DNN for stereo camera disparity prediction

Stereo perception DNN-based GEMs are designed to help roboticists with common perception tasks.

1. Enhanced Semi-Supervised stereo disparity (ESS) is a DNN for stereo camera disparity prediction.
2. Bi3D is a DNN for vision-based proximity detection.

Both Bi3D and ESS are pretrained for robotics applications using synthetic data and are intended for commercial use.

Isaac ROS DNN Stereo Disparity
Isaac ROS Proximity Segmentation



High-Performance Perception With NITROS Pipelines

Boost performance with powerful pipelines that take advantage from hardware acceleration additions to ROS 2 Humble.
Complete performance summary available here


Node
Input Size
AGX Orin
AGX Xavier
Orin NX
Orin Nano 8GB
x86_64 w/ RTX 4090
x86_64 w/ RTX 3060 Ti
AprilTag Node 720p 108 fps
11 ms
93.0 fps
15 ms
65.5 fps
17 ms
47.1 fps
23 ms
307 fps
4.0 ms
242 fps
4.7 ms
Freespace Segmentation Node576p1680 fps
1.1 ms
852 fps
3.2 ms
1240 fps
1.3 ms
926 fps
1.7 ms
3480 fps
0.32 ms
2830 fps
0.31 ms
Proximity Segmentation Node576p45.9 fps
32 ms
19.1 fps
84 ms
26.3 fps
65 ms
--197 fps
16 ms
148 fps
22 ms
Stereo Disparity Node1080p151 fps
9.0 ms
81.8 fps
15 ms
73.7 fps
14 ms
51.6 fps
22 ms
892 fps
1.7 ms
451 fps
2.9 ms
DNN Image Encoder NodeVGA2230 fps
0.60 ms
--1560 fps
0.89 ms
--5370 fps
0.26 ms
5780 fps
0.45 ms
DNN Stereo Disparity Node1080p63.6 fps
2.6 ms
31.2 fps
3.5 ms
24.5 fps
3.0 ms
17.3 fps
4.0 ms
312 fps
0.59 ms
131 fps
0.73 ms



Mission Dispatch and Client

Isaac ROS Mission Dispatch and Client cloud services

Isaac Mission Dispatch allows a cloud/edge system to send and monitor tasks from a ROS 2 robot with Isaac Mission Client using industry standards for production deployments. Mission Dispatch is a cloud-native microservice that can be integrated as part of larger fleet management systems.

Mission Dispatch and Mission Client are both available in open source and can be used to test robots in simulation for automating test portions of continuous integration and continuous deployments (CI/CD), performing a series of predefined tasks evaluated against expected results. This benefit is in addition to the primary usage of assigning tasks to robots in operation.

Mission Dispatch can be integrated into fleet management systems (e.g., Anyfleet, Roborunner FleetGateway) with Mission Client on the ROS 2 robot. Mission Dispatch will interoperate with other ROS 2 Clients built on VDA5050.

Isaac ROS Mission Dispatch
Isaac ROS Mission Client



Camera/Image Processing

Isaac ROS camera/image processing

The image shows a lens-distorted camera image (left) and rectified image using LDC GEM (right).

In a typical robotics image processing pipeline, raw data from the camera sensor must be processed before being passed off to a DNN or classic computer vision module for perception processing. This image processing consists of things like Lens Distortion Correction (LDC), image resizing, and image format conversion. If stereo cameras are involved, then estimating disparity is also required. The image processing GEMs have been designed to take advantage of the specialized computer vision hardware available in Jetson solutions, like the GPU, the VIC (Video and Image Compositor), and the PVA (Programmable Vision Accelerator).

For robots using cameras connected via a CSI interface, NVIDIA provides the Argus package for ROS hardware acceleration.

Isaac ROS Image Processing



Isaac ROS Camera Partners

Isaac ROS partners offer drivers that seamlessly integrate with the Isaac ROS GEMs for ROS hardware acceleration. You can see complete list of drivers and compatible hardware here.


Isaac ROS Camera Partner - Leopard Imaging
Isaac ROS Camera Partner - D3 Engineering
Isaac ROS Camera Partner - Framos



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Resources

Accelerate your robotic application development today with NVIDIA Isaac ROS.

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