Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

Tutorial for AprilTag Detection with Isaac Sim

Overview

This tutorial walks you through a graph to estimate the 6DOF pose of AprilTags using images from Isaac Sim.

Tutorial Walkthrough

1. Complete the quickstart here.

2. Launch the Docker container using the run_dev.sh script:

   cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
     ./scripts/run_dev.sh
   

3. Launch the pre-composed graph launch file:

   ros2 launch isaac_ros_apriltag isaac_ros_apriltag_isaac_sim_pipeline.launch.py
   

4. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide

5. Press Play to start publishing data from the Isaac Sim.

   

6. In a separate terminal, run RViz to visualize the AprilTag detections:

   rviz2 -d src/isaac_ros_apriltag/isaac_ros_apriltag/rviz/default.rviz
   

   

7. If you prefer to observe the AprilTag output in text form, echo the contents of the /tag_detections topic with the following command in a separate terminal:

   ros2 topic echo /tag_detections