Package Reference

Isaac ROS Deploy is documented as one suite because its packages form a single deployment path. Launch files compose converters, runtime controllers, message interfaces, and platform adapters. Splitting those workflows across package pages would duplicate the shared configuration. This page records which package owns each part of the suite and links to its source.

Packages

Package	Provides	Source
isaac_ros_deploy	Metapackage that installs the core Isaac ROS Deploy runtime packages.	Source code available on GitHub.
isaac_deploy_core	C++ inference and command-processing primitives shared by the runtimes.	Source code available on GitHub.
isaac_ros_deploy_ros2_control	ROS 2 control plugins for running LEAPP bundles in a controller loop, forwarding topic commands into command interfaces, gating outputs through safety controllers, and broadcasting commanded joint values.	Source code available on GitHub.
isaac_ros_deploy_converters	Message and interface converters plus composable nodes for the ROS 2 node runtime.	Source code available on GitHub.
isaac_ros_deploy_bringup	Launch files for the ROS 2 node inference pipeline.	Source code available on GitHub.
isaac_ros_deploy_interfaces	ROS 2 message definitions used by Isaac ROS Deploy converters and debugging tools.	Source code available on GitHub.
isaac_ros_deploy_isaac_sim_extension	Isaac Sim extension and helper scripts for topic-based deployment with simulated robots.	Source code available on GitHub.
isaac_ros_deploy_reference_applications	Reference applications demonstrating Isaac ROS Deploy integrations.	Source code available on GitHub.
isaac_ros_inverse_dynamics	Inverse-dynamics utilities used by deploy examples.	Source code available on GitHub.
reference_motion	C++ library for loading and sampling reference motions.	Source code available on GitHub.
reference_motion_ros	ROS 2 lifecycle wrapper and visualization interfaces for reference motions.	Source code available on GitHub.

ROS 2 Control Plugins

The isaac_ros_deploy_ros2_control package exports these controller plugins for controller-manager configuration:

Plugin	Purpose
isaac_ros_deploy_ros2_control/InferenceController	Runs a LEAPP bundle in the ros2_control update loop.
isaac_ros_deploy_ros2_control/SafetyController	Controller that can be chained to blend policy output and apply out-of-domain checks before commands reach hardware.
isaac_ros_deploy_ros2_control/ForwardJointCommandController	Forwards JointCommand or JointState topic data into hardware command interfaces.
isaac_ros_deploy_ros2_control/FreezeController	Holds joints at their activation positions using impedance commands.
isaac_ros_deploy_ros2_control/DisableController	Sets joint stiffness and damping commands to zero.
isaac_ros_deploy_ros2_control/JointCommandBroadcaster	Publishes commanded joint values for recording and inspection.