Source code on GitHub.


This quickstart shows an example of how to use the isaac_ros_h264_decoder with a pre-recorded rosbag, which contains compressed H.264 images generated from isaac_ros_h264_encoder with two Argus cameras as the input source. You will be able to visualize the decoded images after the last step.

  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
  1. Pull down a rosbag of sample data:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_compression && \
    git lfs pull -X "" -I "resources/rosbags/h264_compressed_sample.bag"
  2. Launch the Docker container using the script:

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

    sudo apt-get install -y ros-humble-isaac-ros-h264-decoder
  4. Run the following launch files to run the demo of this isaac_ros_h264_decoder:

    ros2 launch isaac_ros_h264_decoder rosbag_path:=/workspaces/isaac_ros-dev/src/isaac_ros_compression/resources/rosbags/h264_compressed_sample.bag
  5. Open a second terminal and attach to the container:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  6. Visualize and validate the output of the package:

    ros2 run image_view image_view --ros-args -r image:=/left/image_uncompressed
    ros2 run image_view image_view --ros-args -r image:=/right/image_uncompressed

Try More Examples

To continue your exploration, check out the following suggested examples:



Launching the decoder node using ros2 launch isaac_ros_h264_decoder, produces the below error message:

x86_64 Platform:

[component_container_mt-2] 2023-04-04 22:19:02.609 WARN  /workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_compression/isaac_ros_h264_decoder/gxf/codec/components/decoder.cpp@310: Decoder output is empty, current frame will be dropped

Jetson Platform:

[component_container_mt-2] 2023-04-04 06:39:57.766 WARN  gxf/std/greedy_scheduler.cpp@235: Error while executing entity 20 named 'KIWPUYFVJT_decoder_response': GXF_FAILURE
[component_container_mt-2] [ERROR] (/usr/src/jetson_multimedia_api/samples/common/classes/NvV4l2ElementPlane.cpp:178) <dec0> Capture Plane:Error while DQing buffer: Invalid argument
[component_container_mt-2] 2023-04-04 06:39:57.766 ERROR /workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_compression/isaac_ros_h264_decoder/gxf/codec/components/decoder_request.cpp@530: Failed to dequeue buffer from capture plane
[component_container_mt-2] 2023-04-04 06:39:57.766 ERROR gxf/std/entity_executor.cpp@509: Failed to tick codelet  in entity: KIWPUYFVJT_decoder_response code: GXF_FAILURE
[component_container_mt-2] 2023-04-04 06:39:57.766 ERROR gxf/std/entity_executor.cpp@203: Entity with eid 35 not found!


You may see these errors when decoder receives P-frames first. Decoder can not decode P-frames until it has received the first I-frame. You can start the decoder before playing the rosbag to avoid these errors.



ros2 launch isaac_ros_h264_decoder

ROS Parameters

ROS Topics Subscribed

ROS Topic





The H.264 compressed image

ROS Topics Published

ROS Topic





The uncompressed image with RGB8 encoding.

Output Interpretations

  1. The isaas_ros_h264_decoder package outputs a uncompressed image with the same resolution as the original image. The output image will be in RGB8 format.