Source code on GitHub.


Follow the steps below to run a sample benchmark for measuring performance of an Isaac ROS AprilTag node with ros2_benchmark. This process can also be used to benchmark the other Isaac ROS nodes, and the ros2_benchmark framework more generally supports benchmarking arbitrary graphs of ROS 2 nodes.

  1. Set up your development environment by following the instructions here.

  2. Clone isaac_ros_common and this repository under ${ISAAC_ROS_WS}/src.

    cd ${ISAAC_ROS_WS}/src
    git clone
    git clone
  3. Pull down r2b Dataset 2023 by following the instructions here or fetch just the rosbag used in this Quickstart with the following command.

    mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage && \
      cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage && \
      wget --content-disposition '' && \
      wget --content-disposition ''
  4. Launch the Docker container using the script:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  5. Install this package’s dependencies.

    sudo apt-get install -y ros-humble-isaac-ros-benchmark ros-humble-isaac-ros-apriltag
  6. Start the Isaac ROS AprilTag benchmark:

    launch_test src/isaac_ros_benchmark/scripts/
  7. Once the benchmark is finished, the final performance measurements are displayed in the terminal.

    Additionally, the final results and benchmark metadata (e.g., system information, benchmark configurations) are also exported as a JSON file.


Isaac ROS Troubleshooting

For solutions to problems with Isaac ROS, please check here.