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.

Repositories and Packages

Use this index to find the Isaac ROS packages you need and examples on how to use them.

Repository	Package(s)	Description
AprilTag	isaac_ros_apriltag	CUDA-accelerated AprilTag detection and pose estimation.
Argus Camera	isaac_ros_argus_camera	ROS 2 packages based on NVIDIA libArgus library for hardware-accelerated CSI camera support.
Benchmark	isaac_ros_benchmark	ROS 2 package which adds on top of ros2_benchmark package plugins, configuration files, and scripts to perform benchmarking on graphs of nodes using Isaac ROS.
Common	–	Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.
Compression	isaac_ros_h264_decoder isaac_ros_h264_encoder	Hardware accelerated data compression
Depth Segmentation	isaac_ros_bi3d	DNN-based depth segmentation and obstacle field ranging using Bi3D
DNN Inference	isaac_ros_dnn_image_encoder isaac_ros_tensor_rt isaac_ros_triton	Hardware-accelerated DNN model inference ROS 2 packages using NVIDIA Triton/TensorRT for both Jetson and x86_64 with CUDA-capable GPU
DNN Stereo Depth	isaac_ros_ess	Deep learned stereo disparity estimation
Freespace Segmentation	isaac_ros_bi3d_freespace	DNN-based freespace segmentation for navigation
Image Pipeline	isaac_ros_image_pipeline isaac_ros_image_proc isaac_ros_stereo_image_proc	Hardware-accelerated ROS 2 packages for camera image processing.
Image Segmentation	isaac_ros_unet	Hardware-accelerated, deep learned semantic image segmentation
Map Localization	isaac_ros_occupancy_grid_localizer isaac_ros_pointcloud_utils	ROS 2 package for map localization
Mission Client	isaac_ros_scene_recorder isaac_ros_vda5050_nav2_client	Receives tasks and actions from the fleet management service and update progress, state, and errors
NITROS	isaac_ros_gxf isaac_ros_nitros isaac_ros_nitros_interfaces isaac_ros_nitros_type	NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages
NITROS Bridge	isaac_ros_nitros_bridge_ros1 isaac_ros_nitros_bridge_ros2	Use Isaac ROS packages in your ROS 1 Noetic with NITROS-enabled performance.
Nova	isaac_ros_correlated_timestamp_driver isaac_ros_hawk isaac_ros_imu_bmi088 isaac_ros_owl	Optimized Isaac ROS packages for Isaac Nova Orin.
Nvblox	isaac_ros_nvblox	Hardware-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox
Object Detection	isaac_ros_detectnet isaac_ros_yolov8	Deep learning model support for object detection including DetectNet
Pose Estimation	isaac_ros_centerpose isaac_ros_dope	Deep learned, hardware-accelerated 3D object pose estimation
Visual SLAM	isaac_ros_visual_slam isaac_ros_visual_slam_interfaces	Visual odometry package based on hardware-accelerated NVIDIA cuVSLAM library with world class quality and performance.