============= Release Notes ============= Isaac ROS 3.2 Update 5 February 27, 2025 ---------------------------------------- Packages available as `3.2 Update 5` tagged `v3.2-5` on GitHub. What's New ~~~~~~~~~~ Updates including: - Published missing asset needed for Isaac ROS cuMotion "Object Attachment" quickstart - Fixed an issue in Isaac ROS cuMotion and Isaac Manipulator that prevented cuMotion from being selected as a planner in recent versions of MoveIt (observed in MoveIt 2.5.8) - ``isaac_manipulator``: Improved pick-and-place reference workflow robustness with Isaac Sim. It was previously possible for robot joint state publishing to fail, causing planning failures - ``isaac_ros_cumotion``: Rebuilt Debian packages against MoveIt 2.5.8 to resolve ``dlopen`` errors ("cannot open shared object file") - ``ros2_benchmark``: Improved robustness of fps calculation Isaac ROS 3.2 Update 4 February 13, 2025 ---------------------------------------- Packages available as `3.2 Update 4` tagged `v3.2-4` on GitHub. Feature Requests & Issues Addressed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This release contains fixes to address user feedback, including: - `isaac_ros_cumotion #27 `__, `#28 `__: Correct version incompatibility Isaac ROS 3.2 Update 3 February 6, 2025 --------------------------------------- Packages available as `3.2 Update 3` tagged `v3.2-3` on GitHub. What's New ~~~~~~~~~~ Updates including: - support for Isaac Sim 4.5 Isaac ROS 3.2 Update 2 January 30, 2025 --------------------------------------- Packages available as `3.2 Update 2` tagged `v3.2-2` on GitHub. What's New ~~~~~~~~~~ Updates including: - ``isaac_ros_common``: Improve container security - ``isaac_ros_cumotion``: Improve input validation - ``isaac_ros_nitros``: Improve unit test robustness - ``isaac_ros_visual_slam``: Reduced image buffer size Isaac ROS 3.2 Update 1 January 16, 2025 ---------------------------------------- Packages available as `3.2 Update 1` tagged `v3.2-1` on GitHub. What's New ~~~~~~~~~~ Updates including: - support for JetPack 6.2 and Jetson Orin Nano Super - ``isaac_ros_benchmarks``: Update benchmarks for Jetson Orin Nano Super - ``isaac_ros_common``: Update build tools installation Isaac ROS 3.2 December 10, 2024 ------------------------------- Packages available as `3.2 Release` tagged `v3.2` on GitHub. What's New ~~~~~~~~~~ Updates including: - support for JetPack 6.1 / Ubuntu 22.04 on CUDA 12.6 (only) - tested with Isaac Sim 4.2 - Isaac Perceptor end-to-end workflow with vision-only mapping, localization, and obstacle perception for AMR navigation - Isaac Manipulator pick-and-place workflow with pose estimation, grasping, and trajectory generation - Isaac Manipulator workflows (pose-to-pose, object-following, and pick-and-place) available in Isaac Sim - PyNITROS: Python API for CUDA with NITROS support with PyTorch tensors and images - Nova Event Data Recorder for collecting data during live operation - Nova online sensor monitoring diagnostics and offline data validation - verified Isaac Perceptor with new multi-cam rigs including Orbbec - ``isaac_mapping_ros``: Add offline map creation - ``isaac_ros_pose_estimation``: Improve FoundationPose performance and accuracy with multiple refinement, particularly for symmetric objects - ``isaac_ros_nvblox``: Improve fine-grained ~1cm voxel resolution, bounded workspace support, and multi-cam for workcell applications, dynamic mode support for Nova Carter/Nova Developer Kit, improved people detection for RealSense - ``isaac_ros_visual_global_localization``: Add multi-cam visual global localization - ``isaac_ros_visual_slam``: Add multi-cam SLAM mode localization Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - :ir_ngc:`Nova Calibration Tool ` is deprecated. - The Debian package for ``isaac_ros_pynitros`` can only be installed inside the Isaac ROS Docker container. - Significant frame drops during data recording may occur in dark or occluded scenes due to excessive image noise exacerbating compression compute load. - Isaac Perceptor during startup may hang due to camera drop frames. Restart the launch file to recover. Isaac ROS 3.1 September 26, 2024 -------------------------------- Packages available as `3.1 Release` tagged `v3.1` on GitHub. What's New ~~~~~~~~~~ Updates including: - restored ZED support - tested with Isaac Sim 4.1 Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - Isaac Sim 4.2 not yet supported - Isaac Perceptor workflows only support Isaac Sim 4.0 Isaac ROS 3.0.1 June 14, 2024 ----------------------------- Packages available as `3.0.1 Release` tagged `v3.0.1` on GitHub. What's New ~~~~~~~~~~ Updates including: - tested with Isaac Sim 4.0 - Isaac Sim NITROS Bridge support - Improved Isaac Perceptor low-lying obstacle detection through new camera/ground calibration for Nova Developer Kit Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - Latest RealSense firmware (5.16.0.1) and ``librealsense`` (2.55.1) introduced breaking changes. Reverted to building supported versions from source. Isaac ROS 3.0.0 May 30, 2024 ---------------------------- Packages available as `3.0.0 Release` tagged `v3.0.0` on GitHub. What's New ~~~~~~~~~~ Updates including: - support for JetPack 6.0 / Ubuntu 22.04 on CUDA 12.2 (only) - tested with Isaac Sim 2023.1.1 - Introducing Isaac Manipulator reference workflows for perception-driven manipulation - Introducing Isaac Perceptor reference workflows for visual odometry and obstacle perception - Improved documentation with tabbed quickstarts for source/binary and image providers - ``isaac_ros_benchmark``: Add multi-cam benchmarks - ``isaac_ros_common``: Improvements to run_dev.sh, add Docker deployment scripts - ``isaac_ros_cumotion``: New cuMotion package and ``MoveIt!`` plugin - ``isaac_ros_dnn_inference``: Decomposed DNN image encoder nodes - ``isaac_ros_ess``: Update for ESS 4.0 improved for workcell manipulation use cases - ``isaac_ros_foundationpose``: Add NITROS FoundationPose decoder - ``isaac_ros_image_proc``: Add crop/resize nodes - ``isaac_ros_jetson_stats``: Add ``jtop`` package - ``isaac_ros_mission_client``: New Nav2 docking support - ``isaac_ros_nitros``: Add ``message_filter`` support for CUDA with NITROS - ``isaac_ros_nova``: New data recorder/replayer, rosbag validation tools - ``isaac_ros_nitros_bridge``: Add support for Jetson - ``isaac_ros_nvblox``: New multi-cam scene reconstruction, add NITROS support, Foxglove viz plugin - ``isaac_ros_rtdetr``: Add NITROS RT-DETR support for SyntheticaDETR models - ``isaac_ros_segformer``: Add NITROS Segformer decoder - ``isaac_ros_segment_anything``: Add NITROS Segment Anything (SAM) decoder - ``isaac_ros_visual_slam``: New multi-cam visual odometry, add NITROS support Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - Known stability issues and frame drops under high CPU load in multi-cam configurations - Known disconnect issues with Nova Carter WiFi + Bluetooth when switching access points during teleoperation - Known high latency issue of Isaac ROS FoundationPose pipeline with Hawk cameras - Removed support for JetPack 5.1.2, Ubuntu 20.04, and Jetson Xavier - Removed support for Stereolabs ZED cameras until ZED SDK support for JP6 is available - ROS 1 Noetic not supported on Ubuntu 22.04 for use with Isaac ROS NITROS Bridge - Known issue with setting ``use_intra_process_comms`` explicitly to ``True`` in ROS graphs with NITROS nodes. See workaround :ref:`here `. Feature Requests & Issues Addressed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This release contains new features and fixes to address user feedback, including: - `isaac_ros_visual_slam #141 `__: Removes TF static publisher preventing intra-process communication Isaac ROS 2.1.0 November 16, 2023 --------------------------------- Packages available as `2.1.0 Release` tagged `v2.1.0` on GitHub. What's New ~~~~~~~~~~ Updates including: - Streamlined developer experience with prebuilt Debian packages for Isaac ROS on x86 and Jetson platforms - ``ros2_benchmark``: Add live mode benchmarking capability - ``isaac_ros_managed_nitros_examples``: Add CV-CUDA DNN Image Encoder example - ``isaac_ros_unet``: Improve segmentation accuracy by converting to BGR colorspace Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - CV-CUDA DNN Image Encoder example is limited to x86 platforms with discrete GPU - Isaac ROS Nvblox prebuilt Debian packages not yet available Feature Requests & Issues Addressed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This release contains new features and fixes to address user feedback, including: - `gxf #2 `__: Added additional files Isaac ROS 2.0.0 October 18, 2023 -------------------------------- Packages available as `2.0.0 Release` tagged `v2.0.0` on GitHub. What's New ~~~~~~~~~~ Updates including: - support for JetPack 5.1.2 - support for Isaac Sim 2023.1.0 - support for Nova Carter - support for Stereolabs ZED cameras - ``isaac_ros_apriltag``: Improve throughput performance, expose new tuning parameters - ``isaac_ros_centerpose``: Add NITROS CenterPose decoder - ``isaac_ros_ess``: Update for ESS 3.0 with confidence thresholding in multiple resolutions - ``isaac_ros_h264_decoder``: Add support on ``aarch64`` - ``isaac_ros_h264_encoder``: Add support on x86_64 - ``isaac_ros_managed_nitros``: Introduce CUDA with NITROS - ``isaac_ros_mission_client``: Add mission cancellation and improved stability - ``isaac_ros_nitros_bridge``: Introduce support for ROS 1 Noetic - ``isaac_ros_nova``: New support packages for Nova sensor suite - ``isaac_ros_nvblox``: New general dynamics detection, improve stability and performance - ``isaac_ros_stereo_image_proc``: Add confidence thresholding for SGM - ``isaac_ros_yolov8``: Add NITROS YOLOv8 decoder - ``isaac_ros_visual_slam``: Improve stability - Improved developer experience with unified documentation site - Streamlined development workflow with ROS 2 Humble Debian packages for JetPack 5 - Renamed Isaac ROS DNN Stereo Disparity -> Isaac ROS DNN Stereo Depth - Renamed Isaac ROS Proximity Segmentation -> Isaac ROS Depth Segmentation - Deleted Isaac ROS IMU, moved ``isaac_ros_imu_bmi088`` to Isaac ROS Nova Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - Isaac ROS NITROS Bridge is limited to x86 platforms with discrete GPU - People in Isaac 2023.1.0 may not animate in Isaac ROS Nvblox examples - ``isaac_ros_triton`` can under certain conditions report errors of the form ``Incomplete inference; response appeared out of order``. - Inconsistencies and failures on multi-GPU systems - Instability when running >2 stereo cameras through Isaac ROS Argus Camera Feature Requests & Issues Addressed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This release contains new features and fixes to address user feedback, including: - `isaac_ros_argus_camera #21 `__: Update camera distortion type mapping - `isaac_ros_common #62 `__: Fixed handling of CONFIG_DOCKER_SEARCH_DIRS - `isaac_ros_common #63 `__: Reduced required ``cmake`` to 3.22.1 available with Ubuntu 22.04 - `isaac_ros_map_localization #6 `__: Update support for resolution parameter Isaac ROS 0.31.0 DP (developer preview) May 25, 2023 ---------------------------------------------------- Packages available as ``DP 3.1 Release`` tagged ``v0.31.0-dp`` on `GitHub `__. What's New ~~~~~~~~~~ Updates including: - ``isaac_ros_visual_slam``: Update with cuVSLAM 11 for improved performance, on-robot validation guide, and better HAWK support - optimizations for CPU overhead for all NITROS packages - ``isaac_ros_stereo_image_proc``: Improve stereo rectification - new package ``isaac_ros_imu_bmi088`` for interfacing with Bosch BMI088 IMU Isaac ROS 0.30.0 DP (developer preview) April 5, 2023 ----------------------------------------------------- Packages available as ``DP 3 Release`` tagged ``v0.30.0-dp`` on `GitHub `__. What's New ~~~~~~~~~~ Updates including: - support for JetPack 5.1.1 - support for Jetson Orin NX, and Jetson Orin Nano 8GB - support for RTX 4K series (Lovelace GPU) with CUDA 11.8 on x86_64 - new package ``isaac_ros_map_localization`` using LIDAR to automatically find the pose of the robot for Nav2 - ``isaac_ros_vslam``: Improvements for better covariance estimation and planar constraints for mobile robots - ``isaac_ros_nvblox``: Improvements for DNN-based person detection and removal from 3D scene reconstruction - ``isaac_ros_h264_encoder``: Improvement adding H.264 P-frame encode for higher performance and smaller rosbags - ``isaac_ros_h264_decoder``: Improvement adding H.264 decompression on Jetson (``aarch64``) - ``isaac_ros_dnn_stereo_depth``: Improvement of ESS DNN trained with real data and SDG (synthetic data generation) - new package ``ros2_benchmark`` for performance measurement of graphs of nodes in open source - new package ``isaac_ros_benchmark`` building upon ``ros2_benchmark`` to provide configurations to benchmark Isaac ROS graphs of nodes - open source release for multiple NITROS-enabled NVIDIA-accelerated packages Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - ``isaac_ros_triton`` can under certain conditions report errors of the form ``Incomplete inference; response appeared out of order``. - ``isaac_ros_h264_encoder`` can become unresponsive when starting a stream after stopping because of a known synchronization bug. Feature Requests & Issues Addressed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This release contains new features and fixes to address user feedback, including: - `isaac_ros_visual_slam #53 `__: Add instructions to clone the dependency ``isaac_ros_nitros`` - `isaac_ros_visual_slam #54 `__: Update depth emitter parameters passed to RealSense node - `isaac_ros_nvblox #40 `__: Update ``realsense-ros`` branch name due to upstream change (kudos to `@ripdk12 `__) - `isaac_ros_mission_client #2 `__: Change parameter name to avoid namespace duplication (kudos to `@bobbleballs `__) Isaac ROS 0.20.0 DP (developer preview) October 19, 2022 -------------------------------------------------------- Packages available as ``DP 2 Release`` tagged ``v0.20.0-dp``. What's New ~~~~~~~~~~ Updates including: - support for `Jetson Orin Nano 8GB `__ - `Apache-2.0 `__ licensing for Isaac ROS repositories - ``isaac_ros_compression``: NVIDIA-accelerated H.264 encoding/decoding - ``isaac_ros_depth_segmentation``: Freespace segmentation based on Bi3D, add Isaac Sim tutorials, add RealSense tutorial - ``isaac_ros_mission_client``: VDA5050-compatible Nav2 mission controller, add Isaac Sim tutorial - ``isaac_ros_dnn_stereo_depth``: Add Isaac Sim tutorial, add RealSense tutorial - ``isaac_ros_image_pipeline``: Add Isaac Sim tutorial, add RealSense tutorial Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - ``isaac_ros_h264_encoder`` can become unresponsive when starting a stream after stopping because of a known synchronization bug. Isaac ROS 0.11.0 DP (developer preview) September 1, 2022 --------------------------------------------------------- Packages available as ``DP 1.1 Release`` tagged ``v0.11.0-dp``. What's New ~~~~~~~~~~ Updates including: - support for JetPack 5.0.2 - support for Isaac Sim 2022.1.1 - ``isaac_ros_image_pipeline``: Add image flip node - ``isaac_ros_nvblox``: Add support for 3D LIDAR input and serialization of maps to file, improve performance - ``isaac_ros_object_detection``: Accelerate DetectNet inference with NITROS, add Isaac Sim tutorial, improve performance - ``isaac_ros_pose_estimation``: Accelerate DOPE inference with NITROS - ``isaac_ros_depth_segmentation``: Update Bi3D model, add dynamic disparity level support - ``isaac_ros_visual_slam``: Update launch files for RealSense package changes, remove stale dependency on ``isaac_ros_image_proc`` Limitations ~~~~~~~~~~~ This release has the following known limitations, with workarounds available in the troubleshooting section: - Intel RealSense drivers do not support Humble out-of-the-box (workaround :ref:`here `) Feature Requests and Issues Addressed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ This release contains new features and fixes to address feedback, including: - `isaac_ros_nvblox #13 `__, `#19 `__: Feature request: Map serialization/deserialization from file - `isaac_ros_nvblox #23 `__: Feature request: Demo for using Intel RealSense Cameras with Nvblox - `isaac_ros_nvblox #24 `__: Feature request: Clear voxels beyond a radius - `isaac_ros_common #29 `__: Torch unavailable inside container on AGX Orin (kudos to `@bblumberg `__) - `isaac_ros_common #40 `__: Docker support for JetPack 5.0.2 - `isaac_ros_dnn_inference #5 `__: ROS Topics can't be viewed from outside container due to UID mismatch (kudos to `@GEngels `__, `@Doch88 `__) - `isaac_ros_object_detection #8 `__: Isaac ROS Object Detection does not install parameters file (kudos to `@Tristis116`) Isaac ROS 0.10.1 DP (Developer Preview) July 12, 2022 ----------------------------------------------------- Packages available as ``DP Release`` tagged ``v0.10.1-dp``. What's New ~~~~~~~~~~ Minor bug fixes and updates including: - ``isaac_ros_apriltag``: Update launch file 'max_tags' parameter to default 64 - ``isaac_ros_argus_camera``: Tune queue sizes - ``isaac_ros_common``: Add missing dependency on ``isaac_ros_apriltag_interfaces`` - ``isaac_ros_dnn_stereo_depth``: Tune QoS and queue sizes - ``isaac_ros_image_pipeline``: Improve frame synchronization - ``isaac_ros_nvblox``: Fix integration with Nav2 costmaps on Humble, updated topic names for test rosbag, fix rosdeps - ``isaac_ros_visual_slam``: Update launch files for RealSense package changes, remove stale dependency on ``isaac_ros_image_proc`` Isaac ROS 0.10.0 DP (Developer Preview) June 30, 2022 ----------------------------------------------------- Packages available as ``DP Release`` tagged ``v0.10.0-dp``. What's New ~~~~~~~~~~ ROS 2 Humble release of Isaac ROS with performance boost and new stereo perception functions including: - packages for ROS 2 Humble (Foxy deprecated) on JetPack 5.0.1 DP - support for Jetson Orin - support for Isaac Sim 2022.1 *(Isaac SIM 2021.2 is deprecated)* - ``isaac_ros_nitros``: Implement type adaptation and type negotiation features new to Humble boosting performance - ``isaac_ros_depth_segmentation``: For stereo vision detection of obstacles during navigation - ``isaac_ros_dnn_stereo_depth``: For stereo vision AI prediction of depth Limitations ~~~~~~~~~~~ There are known limitations with this release, that might have additional details for workarounds in the troubleshooting section: - Isaac SIM 2022.1 released in June 2022 will add support for Humble in September. Incompatibilities exist when performing SIL (software in the loop) simulation with Isaac ROS. - RealSense drivers as-is do not support Humble, but can be modified to work. - ``isaac_ros_nvblox`` is untested with Nav2 on Humble. - Removed CenterPose support on Jetson. - ``isaac_ros_ess`` throws an error if using rosbag as input, and input topics are published after the node is started. Isaac ROS 0.9.3 EA3 (Early Access) March 23, 2022 ------------------------------------------------- Packages available as ``EA3 Release`` tagged ``v0.9.3-ea3``. What's New ~~~~~~~~~~ GTC 2022 release of Isaac ROS with new packages for vision based autonomous navigation including: - packages for ROS 2 Foxy on JetPack 4.6.1 - ``isaac_ros_visual_slam``: Upgrade from SVIO as visual odometry source for Nav2 with save and load of feature maps - ``isaac_ros_nvblox``: For vision based temporary 3D obstacle map construction in real-time - ``isaac_ros_object_detection``: To detect and classify obstacles using DNN detection networks Isaac ROS 0.9.1 EA2.1 (Early Access) Nov 22, 2021 ------------------------------------------------- Packages available as ``EA2 Release`` tagged ``v0.9.1-ea2``. What's New ~~~~~~~~~~ Incremental update with fixes and new packages from previous ROSCon 2021 release, including: - packages for ROS 2 Foxy on JetPack 4.6 - support for Isaac Sim 2021.3 - ``isaac_ros_pose_estimation``: Update adding CenterPose DNN for detection of pose - Isaac SIM <-> Isaac ROS tutorials with Jetson hardware in the loop - new software license with commercial use grant Isaac ROS EA2 (Early Access) Oct 20, 2021 ----------------------------------------- What's New ~~~~~~~~~~ ROSCon 2021 release of Isaac ROS providing NVIDIA acceleration for autonomous robots with new features including: - packages for ROS 2 Foxy on JetPack 4.6 - ``isaac_ros_visual_odometry``: Provide stereo visual inertial odometry - ``isaac_ros_argus_camera``: For NVIDIA-accelerated ISP of CSI and GMSL cameras - ``isaac_ros_image_segmentation``: For DNN based image segmentation including people detection pre-trained model - ``isaac_ros_pose_estimation``: For detection of pose using DOPE DNN - ``isaac_ros_dnn_inference``: For TensorRT and Triton inferencing server for DNN processing Isaac ROS EA1 (Early Access) Aug 11, 2021 ----------------------------------------- What's New ~~~~~~~~~~ This is the first release of Isaac ROS providing NVIDIA acceleration for autonomous robots with new features including: - packages for ROS 2 Foxy on JetPack 4.5 - ``isaac_apriltag``: Provide NVIDIA accelerated replacement for ``apriltag`` - ``isaac_image_proc``: Provide NVIDIA accelerated replacement for ``image_proc`` - ``isaac_stereo_image_proc``: Provide NVIDIA accelerated replacement for ``image_proc``