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_nitros_type

Source code on GitHub.

isaac_ros_nitros_type is a directory that hosts all NITROS type packages. Visit isaac_ros_nitros_type for a complete list of supported NITROS types. The following table lists a subset of commonly used types:

NITROS Interface	ROS Interface
NitrosImage	sensor_msgs/Image
NitrosCompressedImage	sensor_msgs/CompressedImage
NitrosCameraInfo	sensor_msgs/CameraInfo
NitrosTensorList	isaac_ros_tensor_list_interfaces/TensorList
NitrosDisparityImage	stereo_msgs/DisparityImage
NitrosPointCloud	sensor_msgs/PointCloud2
NitrosOccupancyGrid	nav_msgs/OccupancyGrid
NitrosOdometry	nav_msgs/Odometry
NitrosDetection2DArray	vision_msgs/Detection2D.msg
NitrosDetection3DArray	vision_msgs/Detection3D.msg
NitrosPoseArray	geometry_msgs/PoseArray
NitrosPoseCovStamped	geometry_msgs/PoseWithCovariance
NitrosTwist	geometry_msgs/Twist
NitrosImu	sensor_msgs/Imu
NitrosAprilTagDetectionArray	isaac_ros_apriltag_interfaces/AprilTagDetectionArray