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

Source code on GitHub.

Quickstart

Follow the steps below to run a sample benchmark for measuring performance of an Isaac ROS AprilTag node with ros2_benchmark. This process can also be used to benchmark the other Isaac ROS nodes, and the ros2_benchmark framework more generally supports benchmarking arbitrary graphs of ROS 2 nodes.

  1. Set up your development environment by following the instructions here.

  2. Clone isaac_ros_common and this repository under ${ISAAC_ROS_WS}/src.

    cd ${ISAAC_ROS_WS}/src

    git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git

    git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark.git

  3. Pull down r2b Dataset 2023 by following the instructions here or fetch just the rosbag used in this Quickstart with the following command.

    mkdir -p ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage && \
  cd ${ISAAC_ROS_WS}/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage && \
  wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/metadata.yaml' && \
  wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/nvidia/isaac/r2bdataset2023/versions/2/files/r2b_storage/r2b_storage_0.db3'

  4. Launch the Docker container using the run_dev.sh script:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh

  5. Install this package’s dependencies.

    sudo apt-get install -y ros-humble-isaac-ros-benchmark ros-humble-isaac-ros-apriltag

  6. Start the Isaac ROS AprilTag benchmark:

    launch_test src/isaac_ros_benchmark/scripts/isaac_ros_apriltag_node.py

  7. Once the benchmark is finished, the final performance measurements are displayed in the terminal.

    Additionally, the final results and benchmark metadata (e.g., system information, benchmark configurations) are also exported as a JSON file.

Troubleshooting

Isaac ROS Troubleshooting

For solutions to problems with Isaac ROS, please check here.