isaac_ros_nitros
Source code on GitHub.
Quickstart
Creating Graphs with NITROS-Accelerated Nodes
Besides the fully tested graphs, it is also possible to construct your own graphs with any of the Isaac ROS NITROS-accelerated nodes to enjoy the performance benefit of NITROS.
The key to successfully constructing a NITROS-accelerated graph is to ensure that all NITROS-accelerated nodes start in the same process (which permits zero-copy between nodes). To do so, follow the steps below to create your own launch file:
Create a Python ROS 2 launch file following the official guide.
Create NITROS-accelerated nodes using
ComposableNode
. TakingArgusMonoNode
andRectifyNode
as an example, the nodes can be created as follows:argus_mono_node = ComposableNode( name='argus_mono_node', package='isaac_ros_argus_camera', plugin='nvidia::isaac_ros::argus::ArgusMonoNode', ) rectify_node = ComposableNode( name='rectify_node', package='isaac_ros_image_proc', plugin='nvidia::isaac_ros::image_proc::RectifyNode', parameters=[{ 'output_width': 1920, 'output_height': 1200, }], remapping=[ ('image_raw', 'left/image_raw'), ('camera_info', 'left/camera_info') ], )
Place the created nodes in
ComposableNodeContainer
:nitros_container = ComposableNodeContainer( name='nitros_container', package='rclcpp_components', executable='component_container_mt', composable_node_descriptions=[argus_mono_node, rectify_node], )
Note: It is crucial that the
executable
field is set to becomponent_container_mt
so that the created nodes can be started and communicated correctly within the same process.Finally, place the created composable node container in
LaunchDescription
to finalize the launch script.return launch.LaunchDescription([nitros_container])
Using NITROS-Accelerated Nodes in Existing Non-NITROS Graphs
It is also possible to use any NITROS-accelerated nodes in an existing ROS 2 graph, as all Isaac ROS nodes are compatible with non-NITROS ROS 2 nodes.
Follow these steps to integrate one or more NITROS-accelerated nodes into your graph:
Follow the same steps introduced in the previous section to create a
ComposableNodeContainer
that contains all the NITROS-accelerated nodes with multi-thread enabled (i.e.executable='component_container_mt'
).Place the created composable node container in
LaunchDescription
together with your own, regular ROS 2 node or composable node container declarations.
Now the NITROS-accelerated nodes will be able to choose the best compatible way to communicate with their adjacent nodes.
When connected to non-NITROS nodes, NITROS-accelerated nodes will function like regular ROS 2 nodes.
When connected to NITROS-accelerated nodes, zero-copy data transmission via type adaptation and type negotiation will be adopted.
Please visit the link below for an example graph that consists of NITROS-accelerated and non-NITROS nodes: