Isaac ROS Nova

Overview

Isaac ROS Nova provides a set of optimized packages to interface with the Isaac Nova Orin sensor suite. These packages integrate with hardware timestamp synchronization on Jetson Orin platforms to enable high-quality sensor fusion. Sensor data streams through Isaac ROS graphs using NITROS for hardware-accelerated processing.

• Hesai Pandar XT32 3D LiDAR

• Leopard Imaging HAWK stereo camera

• Leopard Imaging OWL monocular camera

• Bosch BMI088 IMU

Isaac ROS NITROS Acceleration

This package is powered by NVIDIA Isaac Transport for ROS (NITROS), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.

Packages

• isaac_ros_correlated_timestamp_driver
  • API
• isaac_ros_hawk
  • API
• isaac_ros_hesai
  • API
• isaac_ros_imu_bmi088
  • API
• isaac_ros_owl
  • API

Supported Platforms

The packages in this repository are only tested to work on the Isaac Nova Orin platform based on Jetson AGX Orin

Run Nova Orin Init to enable running configurations of the Nova Orin sensor suite correctly.

Platform	Hardware	Software	Notes
Jetson	Jetson Orin	JetPack 5.1.2	For best performance, ensure that power settings are configured appropriately.

Updates

Date	Changes
2023-10-18	Initial release