Repositories and Packages

Use this index to find the Isaac ROS packages you need and examples on how to use them.

Repository	Package(s)	Description
AprilTag	isaac_ros_apriltag	CUDA-accelerated AprilTag detection and pose estimation.
Argus Camera	isaac_ros_argus_camera	ROS 2 packages based on NVIDIA libArgus library for NVIDIA-accelerated CSI camera support.
Benchmark	isaac_ros_benchmark	ROS 2 package which adds on top of ros2_benchmark package plugins, configuration files, and scripts to perform benchmarking on graphs of nodes using Isaac ROS.
Common	–	Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.
Compression	isaac_ros_h264_decoder isaac_ros_h264_encoder	NVIDIA-accelerated data compression
cuMotion	isaac_ros_cumotion isaac_ros_cumotion_moveit	CUDA-accelerated motion generation for robot arms
Depth Segmentation	isaac_ros_bi3d	DNN-based depth segmentation and obstacle field ranging using Bi3D
DNN Inference	isaac_ros_dnn_image_encoder isaac_ros_tensor_rt isaac_ros_triton isaac_ros_tensor_proc	NVIDIA-accelerated DNN model inference ROS 2 packages using NVIDIA Triton/TensorRT for both Jetson and x86_64 with CUDA-capable GPU
DNN Stereo Depth	isaac_ros_ess	Deep learned stereo disparity estimation
Freespace Segmentation	isaac_ros_bi3d_freespace	DNN-based freespace segmentation for navigation
Jetson	isaac_ros_jetson_stats isaac_ros_jetson_stats_services	Utility tools for NVIDIA Jetson
Image Pipeline	isaac_ros_image_pipeline isaac_ros_image_proc isaac_ros_stereo_image_proc	NVIDIA-accelerated ROS 2 packages for camera image processing.
Image Segmentation	isaac_ros_unet isaac_ros_segformer isaac_ros_segment_anything	NVIDIA-accelerated, deep learned semantic image segmentation
Manipulator	isaac_manipulator_bringup	Use Isaac Manipulator for accelerated manipulator motion planning with camera-based obstacle avoidance
Map Localization	isaac_ros_occupancy_grid_localizer isaac_ros_pointcloud_utils	ROS 2 package for map localization
Mapping and Localization	isaac_ros_visual_global_localization isaac_mapping_ros isaac_mapping	Visual global localization package based on NVIDIA cuVGL library
Mission Client	isaac_ros_scene_recorder isaac_ros_vda5050_nav2_client	Receives tasks and actions from the fleet management service and update progress, state, and errors
NITROS	isaac_ros_gxf isaac_ros_nitros isaac_ros_nitros_interfaces isaac_ros_nitros_type	NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages
NITROS Bridge	isaac_ros_nitros_bridge_ros1 isaac_ros_nitros_bridge_ros2	Use Isaac ROS packages in your ROS 1 Noetic with NITROS-enabled performance.
Nova	isaac_ros_correlated_timestamp_driver isaac_ros_ground_calibration isaac_ros_data_recorder isaac_ros_data_replayer isaac_ros_hawk isaac_ros_imu_bmi088 isaac_ros_nova_recorder isaac_ros_owl	Optimized Isaac ROS packages for Isaac Nova Orin.
Nvblox	isaac_ros_nvblox	NVIDIA-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox
Object Detection	isaac_ros_rtdetr isaac_ros_detectnet isaac_ros_yolov8	Deep learning model support for object detection including DetectNet
Perceptor	isaac_ros_perceptor_bringup	Use Isaac Perceptor for camera-based odometry and 3D reconstruction
Pose Estimation	isaac_ros_centerpose isaac_ros_dope isaac_ros_foundationpose	Deep learned, NVIDIA-accelerated 3D object pose estimation
Visual SLAM	isaac_ros_visual_slam isaac_ros_visual_slam_interfaces	Visual odometry package based on NVIDIA-accelerated NVIDIA cuVSLAM library with world class quality and performance.