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_bridge_ros1

Source code on GitHub.

API

Usage

roslaunch isaac_ros_nitros_bridge_ros1 r2b_converter.launch

ROS Parameters

ROS Parameter

Type

Default

Description

num_blocks

int

40

The number of pre-allocated GPU memory blocks

ROS Topics Subscribed

ROS Topic

Type

Description

ros1_input_image

sensor_msgs/Image

Input ROS1 image to be converted to NITROS bridge image

ros1_input_bridge_image

isaac_ros_nitros_bridge_msgs/NitrosBridgeImage

Input NITROS bridge image to be converted to ROS1 image

ROS Topics Published

ROS Topic

Interface

Description

ros1_output_image

sensor_msgs/Image

Output ROS1 image converted from NITROS bridge image

ros1_output_bridge_image

isaac_ros_nitros_bridge_msgs/NitrosBridgeImage

Output NITROS bridge image converted from ROS1 image