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_ros2`

Source code on GitHub.

API

Usage

ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge.launch.py rosbag_path:='<Absolute path to your input rosbag>' ros1_ws_path:='<Absolute path to your ros1 workspace>'

ROS Parameters

ROS Parameter	Type	Default	Description
`num_blocks`	`int64_t`	`40`	The number of pre-allocated GPU memory blocks

ROS Topics Subscribed

ROS Topic	Type	Description
`ros2_input_image`	sensor_msgs/Image	Input ROS2 image to be converted to NITROS bridge image
`ros2_input_bridge_image`	isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage	Input NITROS bridge image to be converted to ROS2 image

ROS Topics Published

ROS Topic	Interface	Description
`ros2_output_image`	sensor_msgs/Image	Output ROS2 image converted from NITROS bridge image
`ros2_output_bridge_image`	isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage	Output NITROS bridge image converted from ROS2 image

isaac_ros_nitros_bridge_ros2