Release Notes#

Isaac ROS 3.2 Update 9 June 13, 2025#

Packages available as 3.2 Update 9 tagged v3.2-9 on GitHub.

What’s New#

Updates including:

Isaac ROS 3.2 Update 8 May 14, 2025#

Packages available as 3.2 Update 8 tagged v3.2-8 on GitHub.

What’s New#

Updates including:

  • isaac_perceptor: Introduce new reference architecture documentation

  • isaac_ros_common: Improve container security and image build robustness

Isaac ROS 3.2 Update 7 May 8, 2025#

Packages available as 3.2 Update 7 tagged v3.2-7 on GitHub.

What’s New#

Updates including:

  • isaac_ros_cumotion: Updated Isaac ROS Manipulation pick and place reference workflow to take into account obstacles manually added to the MoveIt planning scene

  • isaac_ros_visual_global_localization: Update API documentation

  • ros2_benchmark: Update quickstart documentation

Isaac ROS 3.2 Update 6 April 3, 2025#

Packages available as 3.2 Update 6 tagged v3.2-6 on GitHub.

What’s New#

Updates including:

  • isaac_ros_mission_client, nova_carter: Integrated the Nova Carter navigation stack with the Mega Omniverse Blueprint

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 ROS Manipulation that prevented cuMotion from being selected as a planner in recent versions of MoveIt (observed in MoveIt 2.5.8)

  • isaac_ros_manipulation: 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 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 ROS Manipulation pick-and-place workflow with pose estimation, grasping, and trajectory generation

  • Isaac ROS Manipulation 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:

  • 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 ROS Manipulation 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 here.

Feature Requests & Issues Addressed#

This release contains new features and fixes to address user feedback, including:

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 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 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 here)

Feature Requests and Issues Addressed#

This release contains new features and fixes to address feedback, including:

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

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