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 to Run NITROS-Accelerated Graph with Argus Camera

graph LR; argus_node("ArgusStereoNode (Raw Image)") --> left_rectify_node("RectifyNode (Rectified Image)"); argus_node --> right_rectify_node("RectifyNode (Rectified Image)"); left_rectify_node --> ess_node("ESSDisparityNode (DNN Inference)"); right_rectify_node --> ess_node; ess_node --> point_cloud_point("PointCloudNode (Point Cloud Output)");

If you have an Argus-compatible camera, you can also use the launch file provided in this package to start a fully NITROS-accelerated stereo disparity graph.

To start the graph:

  1. Follow the quickstart up to step 6.

  2. Inside the container, install the isaac_ros_argus_camera package.

    sudo apt-get install -y ros-humble-isaac-ros-argus-camera

  3. Launch ESS Disparity Node:

    ros2 launch isaac_ros_ess isaac_ros_argus_ess.launch.py engine_file_path:=/workspaces/isaac_ros-dev/src/isaac_ros_dnn_stereo_depth/resources/ess.engine