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_owl

Source code on GitHub.

API

OwlNode

ROS Parameters

ROS Parameter	Type	Default	Description
camera_id	uint	0	The video device index E.g. /dev/video0
module_id	uint	0	The camera module index in the device tree when there is more than one of the same camera module connected
mode	uint	0	The resolution mode supported by the camera sensor and driver.
fsync_type	uint	1	Specifies what kind of Frame Synchronization to use, supported values are 0 for internal and 1 for external. For e3653 boards (carter 2.3) choose 0, for p3762 boards (carter 2.4) choose 1
camera_type	uint	0	0 for Monocular type camera.
camera_link_frame_name	string	camera	The frame name associated with the origin of the camera body.
optical_frame_name	string	left_cam	The frame name associated with the imager inside camera body (for monocular camera).
camera_info_url	string	N/A	Optional URL of a camera info .ini file to read intrinsic information.

ROS Topics Subscribed

ROS Topic	Interface	Description
correlated_timestamp	isaac_ros_nova_interfaces::msg::FlatScan	Timestamp correlation data.

ROS Topics Published

ROS Topic	Interface	Description
left/image_raw	sensor_msgs/Image	The OWL image.
left/camerainfo	sensor_msgs/CameraInfo	The OWL camera info.