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.
CenterPose
The CenterPose DNN performs object detection on the image, generates 2D keypoints for the object, estimates the 6-DoF pose up to a scale, and regresses relative 3D bounding cuboid dimensions. This is performed on a known object class without knowing the instance-for example, detecting a chair without having trained on images of all chairs. NVLabs has provided pre-trained models for the CenterPose model; however, as with the DOPE model, it needs to be trained with another dataset targeting objects that are specific to your application.
Pose estimation is a compute-intensive task and not performed at the frame rate of an input camera. To make efficient use of resources, object pose is estimated for a single frame and used as an input to navigation. Additional object pose estimates are computed to further refine navigation in progress at a lower frequency than the input rate of a typical camera.
Repositories and Packages
The Isaac ROS implementations of this technology are available here: