Isaac ROS Benchmark
Overview
Isaac ROS Benchmark builds upon the ros2_benchmark to provide configurations to benchmark Isaac ROS graphs. Performance results that measure Isaac ROS for throughput, latency, and utilization enable robotics developers to make informed decisions when designing real-time robotics applications. The Isaac ROS performance results can be independently verified, as the method, configuration, and data input used for benchmarking are provided.
The ros2_benchmark playback node plug-in, for type adaptation and
negotiation, is provided for
NITROS, which
optimizes the performance of message transport costs through
RCL with GPU accelerated graphs of
nodes.
The datasets for benchmarking are explicitly not downloaded by default. To pull down the standardized benchmark datasets, refer to the ros2_benchmark Dataset section.
Quickstarts
Benchmarking
Please consult here for more details about using Isaac ROS Benchmark.
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.
Note
Versions of ROS 2 other than Humble are not supported. This package depends on specific ROS 2 implementation features that were introduced beginning with the Humble release. ROS 2 versions after Humble have not yet been tested.
Platform |
Hardware |
Software |
Notes |
|---|---|---|---|
Jetson |
For best performance, ensure that power settings are configured appropriately. Jetson Orin Nano 4GB may not have enough memory to run many of the Isaac ROS packages and is not recommended. |
||
x86_64 |
|
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.
Note
All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite.
Customize your Dev Environment
To customize your development environment, reference this guide.
Updates
Date |
Changes |
|---|---|
2024-09-26 |
Updated for Isaac ROS 3.1 |
2024-05-30 |
Restructure benchmark scripts into packages |
2023-10-18 |
Added new benchmarks |
2023-04-05 |
Initial release |