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.

ROS Communication Issues

If it looks like you are dropping messages or you are not receiving any messages, you might be at the right place here.

DDS tuning

In case you encounter issues with reliability of ROS 2 message delivery, you could try to increase the maximum receive buffer size:

sudo sysctl -w net.core.rmem_max=2147483647

For more information please consult the DDS tuning information of ROS 2.

RTPS profile

You can find the RTPS profile of Isaac ROS here. If you encounter communication issues when launching many ROS 2 nodes simultaneously you might want to increase the maxInitialPeersRange parameter like shown below:

<license>NVIDIA Isaac ROS Software License</license>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>UdpTransport</transport_id>
            <type>UDPv4</type>
            <maxInitialPeersRange>100</maxInitialPeersRange>
        </transport_descriptor>
    </transport_descriptors>

...

After saving the modification, make sure to restart you docker container.