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_h264_encoder`

Source code on GitHub.

Quickstart

Please see the quickstart from isaac_ros_h264_decoder.

Try More Examples

To continue your exploration, check out the following suggested examples:

API

Usage

ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder.launch.py input_width:=<"your input image width"> input_height:=<"your input image height">

ROS Parameters

ROS Parameter	Type	Default	Description
`input_width`	`uint32_t`	`1920`	The width of the input image.
`input_height`	`uint32_t`	`1200`	The height of the input image.
`qp`	`uint32_t`	`20`	The encoder constant QP value.
`hw_preset`	`uint32_t`	`0`	The encoder hardware preset type. The value can be an integer from `0` to `3`, representing `Ultrafast`, `Fast`, `Medium` and, `Slow`, respectively.
`profile`	`uint32_t`	`0`	The profile to be used for encoding. The value can be an integer from `0` to `2`, representing `Main`, `Baseline`, and `High`, respectively.
`iframe_interval`	`int32_t`	`5`	Interval between two I frames, in number of frames. E.g., `iframe_interval=5` represents `IPPPPI...`, `iframe_interval=1` represents I frame only
`config`	`std::string`	`pframe_cqp`	A preset combination of `qp`, `hw_preset`, `profile` and `iframe_interval`. The value can be `iframe_cqp`, `pframe_cqp` or `custom`. When `iframe_cqp` or `pframe_cqp` is used, the default value of these four parameters will be applied. Only when this field is `custom` will the custom values will be used.

ROS Topics Subscribed

ROS Topic	Type	Description
`image_raw`	sensor_msgs/Image	Raw input image.

Warning

All input images are required to have height and width that are both an even number of pixels.

ROS Topics Published

ROS Topic	Interface	Description
`image_compressed`	sensor_msgs/CompressedImage	H.264 compressed image.

Input Restrictions

The input image resolution must be the same as the dimension you provided, and the resolution must be no larger than ``1920x1200``.
The input image should be in rgb8 or bgr8 format, and it will be converted to nv12 format before being sent to the encoder.

Output Interpretations

The encoder could perform All-I frame or P-frame encoding and output the H.264 compressed data. The input and output are one-to-one mapped.

isaac_ros_h264_encoder