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_depth_image_proc

Source code on GitHub.

API

Overview

The isaac_ros_depth_image_proc package offers functionality for processing depth images and producing a point cloud. It largely replaces the depth_image_proc package.

Available Components

Component

Topics Subscribed

Topics Published

Parameters

PointCloudXyzNode

image_rect, camera_info: The depth image and the associated camera info with it

points: The resultant XYZ point cloud

skip: Skips skip number of depth pixels in order to limit the number of pixels converted to points. output_height The output height of the point cloud. This should be equivalent to the height of the image. output_width The output width of the point cloud. This should be equivalent to the width of the image.

PointCloudXyzrgbNode

depth_registered/image_rect: The depth image rgb/image_rect_color: The RGB image associated with the depth image rgb/camera_info: The camera info associated with the RGB image and depth image

points The resultant XYZRGB point cloud

skip: Skips skip number of depth pixels in order to limit the number of pixels converted to points. output_height The output height of the point cloud. This should be equivalent to the height of the image. output_width The output width of the point cloud. This should be equivalent to the width of the image.