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.
Performance Summary
The performance results of benchmarking the Isaac ROS packages on both Jetson and x86_64 platforms are below:
Node
|
Input Size
|
AGX Orin
|
AGX Xavier
|
Orin NX
|
Orin Nano 8GB
|
x86_64 w/ RTX 4060 Ti
|
---|---|---|---|---|---|---|
720p
|
40 ms
|
58 ms
|
74 ms
|
65 ms
|
37 ms
|
|
720p
|
9.7 ms
|
14 ms
|
14 ms
|
21 ms
|
6.4 ms
|
|
576p
|
1.2 ms
|
3.8 ms
|
1.6 ms
|
2.3 ms
|
0.32 ms
|
|
576p
|
43 ms
|
120 ms
|
98 ms
|
–
|
28 ms
|
|
576p
|
4.1 ms
|
15 ms
|
6.2 ms
|
7.4 ms
|
4.4 ms
|
|
288p
|
5.6 ms
|
7.3 ms
|
5.6 ms
|
6.9 ms
|
4.2 ms
|
|
1080p
|
11 ms
|
18 ms
|
19 ms
|
26 ms
|
7.2 ms
|
|
1080p
|
5.4 ms
|
5.9 ms
|
5.3 ms
|
6.4 ms
|
3.9 ms
|
|
DOPE
|
VGA
|
22 ms
|
80 ms
|
56 ms
|
81 ms
|
11 ms
|
DOPE
|
VGA
|
23 ms
|
830 ms
|
540 ms
|
790 ms
|
10 ms
|
PeopleSemSegNet
|
544p
|
3.4 ms
|
12 ms
|
5.6 ms
|
6.4 ms
|
2.2 ms
|
PeopleSemSegNet
|
544p
|
4.0 ms
|
12 ms
|
5.7 ms
|
–
|
2.0 ms
|
VGA
|
1.6 ms
|
3.6 ms
|
2.3 ms
|
–
|
0.66 ms
|
|
~50 sq. m
|
64 ms
|
290 ms
|
140 ms
|
200 ms
|
20 ms
|
|
1080p
|
9.5 ms
|
12 ms
|
–
|
–
|
3.1 ms
|
|
I-frame Support
|
1080p
|
12 ms
|
19 ms
|
–
|
–
|
4.8 ms
|
P-frame Support
|
1080p
|
11 ms
|
13 ms
|
–
|
–
|
4.1 ms
|
Graph
|
Input Size
|
AGX Orin
|
AGX Xavier
|
Orin NX
|
Orin Nano 8GB
|
x86_64 w/ RTX 4060 Ti
|
---|---|---|---|---|---|---|
720p
|
14 ms
|
21 ms
|
20 ms
|
26 ms
|
9.5 ms
|
|
576p
|
41 ms
|
130 ms
|
95 ms
|
110 ms
|
30 ms
|
|
VGA
|
5.7 ms
|
16 ms
|
7.4 ms
|
12 ms
|
14 ms
|
|
VGA
|
33 ms
|
160 ms
|
120 ms
|
–
|
15 ms
|
|
576p
|
20 ms
|
93 ms
|
42 ms
|
–
|
11 ms
|
|
288p
|
13 ms
|
20 ms
|
16 ms
|
–
|
12 ms
|
|
1080p
|
15 ms
|
21 ms
|
21 ms
|
31 ms
|
3.0 ms
|
|
544p
|
11 ms
|
19 ms
|
15 ms
|
22 ms
|
5.6 ms
|
|
PeopleSemSegNet
|
544p
|
8.1 ms
|
12 ms
|
9.6 ms
|
13 ms
|
5.5 ms
|
Methodology
The performance numbers provided above are measured using Isaac ROS Benchmark. Configuration files for reproducing results are provided in the launch scripts for each benchmark here.
Frames per second (fps) are measured using the maximum sustained framerate for the accelerated computational pipeline on each listed platforms. Performance measured includes input node → graph of node(s) under performance test → output node where the publishing rate of the input node is auto-tuned to discover the peak throughput dropping <5% of the frames. Average fps computed over 5 runs, discarding minimum and maximum runs; latency measured at 30hz publishing rate matching sensor capture rate.