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.

Isaac ROS Benchmark

https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_benchmark/r2b_turtlebot_takeoff.gif/

Overview

Isaac ROS Benchmark builds upon the ros2_benchmark to provide configurations to benchmark Isaac ROS graphs. Performance results that measure Isaac ROS for throughput, latency, and utilization enable robotics developers to make informed decisions when designing real-time robotics applications. The Isaac ROS performance results can be independently verified, as the method, configuration, and data input used for benchmarking are provided.

The ros2_benchmark playback node plug-in, for type adaptation and negotiation, is provided for NITROS, which optimizes the performance of message transport costs through RCL with GPU accelerated graphs of nodes.

The datasets for benchmarking are explicitly not downloaded by default. To pull down the standardized benchmark datasets, refer to the ros2_benchmark Dataset section.

Quickstarts

Benchmarking

Please consult here for more details about using Isaac ROS Benchmark.

Packages

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Jetson or an x86_64 system with an NVIDIA GPU.

Note

Versions of ROS 2 earlier than Humble are not supported. This package depends on specific ROS 2 implementation features that were only introduced beginning with the Humble release.

Platform

Hardware

Software

Notes

Jetson

Jetson Orin Jetson Xavier

JetPack 5.1.2

For best performance, ensure that power settings are configured appropriately.

x86_64

NVIDIA GPU

Ubuntu 20.04+ CUDA 11.8+

Docker

To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following these steps. This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms.

Note

All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite.

Customize your Dev Environment

To customize your development environment, reference this guide.

Updates

Date

Changes

2023-10-18

Added new benchmarks

2023-04-05

Initial release