Getting Started

Isaac ROS is a collection of NVIDIA® CUDA®-accelerated computing packages and AI models designed to streamline and expedite the development of advanced AI robotics applications.

NVIDIA Isaac ROS is built on open-source ROS 2. Through Isaac ROS, developers in the ROS community can take advantage of NVIDIA-accelerated libraries and AI models to fast track their AI robot development and deployment workflows.

System Requirements

Supported Platforms

Platform	Hardware	Software	Storage	Notes
Jetson	Jetson Thor (T5000)	JetPack 7.0	128+ GB NVMe SSD	For best performance, ensure that power settings are configured appropriately.
x86_64	Ampere or higher NVIDIA GPU Architecture with 8 GB RAM or higher	Ubuntu 24.04	32+ GB disk space available	CUDA 13.0+ NVIDIA Driver 580+

ROS Support

All Isaac ROS packages are designed and tested to be compatible with ROS 2 Jazzy.

Initialize Compute

x86 Platforms

1. Install the latest NVIDIA GPU Driver using the official instructions.

2. Verify the NVIDIA GPU Driver is installed correctly:

   nvidia-smi
   

   Confirm that all relevant fields satisfy the requirements.

   • Driver Version

   • CUDA Version

   • GPU Memory

Jetson Platforms

1. Complete the Jetson AGX Thor Quick Start Guide.

2. Install the complete JetPack SDK.

3. After boot, confirm that you have installed the correct version of Jetpack by running the following command. Confirm that the output has the terms R38 (release), REVISION: 2.2.

   cat /etc/nv_tegra_release
   

4. Set the power mode to MAXN using this guide.

5. Set the GPU and CPU clock speeds to max using this guide.

6. Add your user to the docker group.

   sudo usermod -aG docker $USER
   newgrp docker
   

7. Setup Docker.

   From the official Docker install instructions (here), install the docker-buildx-plugin.

   # Add Docker's official GPG key:
   sudo apt-get update
   sudo apt-get install ca-certificates curl gnupg
   sudo install -m 0755 -d /etc/apt/keyrings
   curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
   sudo chmod a+r /etc/apt/keyrings/docker.gpg
   
   # Add the repository to Apt sources:
   echo \
   "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
   "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
   sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
   sudo apt-get update
   
   sudo apt install docker-buildx-plugin
   

8. Consider the following recommendations for a better experience:

   • Jetson Storage Setup

   • Preempt Setup

Create a Workspace

x86 Platforms

Create a ROS 2 workspace for experimenting with Isaac ROS:

mkdir -p  ~/workspaces/isaac_ros-dev/src
echo 'export ISAAC_ROS_WS="${ISAAC_ROS_WS:-${HOME}/workspaces/isaac_ros-dev/}"' >> ~/.bashrc
source ~/.bashrc

Jetson Platforms

1. Install the SSD using the instructions in Jetson Storage Setup.

2. Create a ROS 2 workspace for experimenting with Isaac ROS:

   mkdir -p  /mnt/nova_ssd/workspaces/isaac_ros-dev/src
   echo 'export ISAAC_ROS_WS="${ISAAC_ROS_WS:-/mnt/nova_ssd/workspaces/isaac_ros-dev/}"' >> ~/.bashrc
   source ~/.bashrc
   

Configure Isaac ROS Apt Repository

The NVIDIA Isaac ROS Apt Repository hosts the following categories of packages for all users:

• Isaac ROS CLI package for managing Isaac ROS development environments

• Pre-built Isaac ROS packages for currently-supported platforms

• Auxiliary packages to improve developer experience or to support a legacy OS

To configure the Isaac ROS Apt Repository, follow the steps below:

1. Set the locale on your host system to UTF-8:

   locale  # check for UTF-8
   
   sudo apt update && sudo apt install locales
   sudo locale-gen en_US en_US.UTF-8
   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8
   
   locale  # verify settings
   

2. Install the dependencies:

   sudo apt update && sudo apt install curl gnupg
   sudo apt install software-properties-common
   sudo add-apt-repository universe
   

3. Source the Isaac ROS Apt Repository:

   Select your platform to see the appropriate APT repository sourcing instructions.

   x86 (Ubuntu 24.04 Noble)

   US CDN

   Option 1: Specific Version (release-4.1)

   Use this option to pin to a specific minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/release-4.1 noble release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   Option 2: Latest Minor Version (release-4)

   Use this option to automatically receive updates for the latest release-4 minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/release-4 noble release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   China CDN

   Option 1: Specific Version (release-4.1)

   Use this option to pin to a specific minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.cn/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.cn/isaac-ros/release-4.1 noble release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   Option 2: Latest Minor Version (release-4)

   Use this option to automatically receive updates for the latest release-4 minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.cn/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.cn/isaac-ros/release-4 noble release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   Jetson Thor (JetPack)

   US CDN

   Option 1: Specific Version (release-4.1)

   Use this option to pin to a specific minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/release-4.1 noble-jetpack release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   Option 2: Latest Minor Version (release-4)

   Use this option to automatically receive updates for the latest release-4 minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/release-4 noble-jetpack release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   China CDN

   Option 1: Specific Version (release-4.1)

   Use this option to pin to a specific minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.cn/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.cn/isaac-ros/release-4.1 noble-jetpack release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

   Option 2: Latest Minor Version (release-4)

   Use this option to automatically receive updates for the latest release-4 minor version.

   k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
   curl -fsSL https://isaac.download.nvidia.cn/isaac-ros/repos.key | sudo gpg --dearmor \
       | sudo tee -a $k > /dev/null
   f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
   sudo touch $f
   s="deb [signed-by=$k] https://isaac.download.nvidia.cn/isaac-ros/release-4 noble-jetpack release-4.1"
   grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
   
   sudo apt-get update
   

Select Environment Isolation Mode

Based on your use case, decide on an appropriate level of isolation between Isaac ROS and your host system:

Tip

Docker is the recommended option for most users. It provides the highest level of isolation from your host system.

In Virtual Environment or Bare Metal mode, you may need to remove existing packages from your host system to avoid version conflicts with Isaac ROS and its dependencies.

Mode	Debian packages	Python pip packages	Isolation
Docker (recommended)	Installed inside the container (host unaffected)	Installed inside the container (host unaffected)	High (full container isolation)
Virtual Environment	Installed on host via apt	Installed into Isaac ROS virtual environment (isolated from system Python)	Medium
Bare Metal	Installed on host via apt	Installed into system Python site-packages	None

This selection will inform subsequent steps in the setup process.

Initialize Isaac ROS CLI

1. Install dependencies:

   pip install termcolor --break-system-packages
   

2. Install the Isaac ROS CLI:

   sudo apt-get install isaac-ros-cli
   

3. Configure the environment isolation mode you selected earlier:

   Docker

   1. Install Docker following the official instructions.

   2. Install the NVIDIA Container Toolkit following the official instructions.

   3. Configure nvidia-container-toolkit for Docker using the official instructions.

   4. Restart Docker:

      sudo systemctl daemon-reload && sudo systemctl restart docker
      

   5. Initialize the Isaac ROS CLI:

      sudo isaac-ros init docker
      

   
   

   Customizing the Docker Image

   The default Isaac ROS Docker image contains a core set of dependencies for basic Isaac ROS usage.

   To add additional dependencies (e.g., RealSense camera support), refer to the Docker Mode Configuration documentation.

   Virtual Environment

   1. Configure your host environment for Isaac ROS:

      1. Configure the CUDA apt repository:

         x86 Platforms

         wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb
         sudo dpkg -i cuda-keyring_1.1-1_all.deb
         rm cuda-keyring_1.1-1_all.deb
         

         Jetson Platforms

         wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/sbsa/cuda-keyring_1.1-1_all.deb
         sudo dpkg -i cuda-keyring_1.1-1_all.deb
         rm cuda-keyring_1.1-1_all.deb
         

      2. Add NVIDIA binary installation locations to your PATH:

         echo 'export PATH="/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/src/tensorrt/bin:${PATH}"' >> ~/.bashrc
         source ~/.bashrc
         

      3. Configure the Jetson apt repository:

         x86 Platforms

         sudo apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
         echo 'deb https://repo.download.nvidia.com/jetson/x86_64/noble r38.2 main' | sudo tee /etc/apt/sources.list.d/nvidia-jetson-apt-source.list
         

         Jetson Platforms

         sudo apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
         echo 'deb https://repo.download.nvidia.com/jetson/common r38.2 main' | sudo tee /etc/apt/sources.list.d/nvidia-jetson-apt-source.list
         

      4. Install ROS 2 Jazzy by following the official ROS 2 documentation:

      5. Install ROS 2 development tools:

         sudo apt-get update
         sudo apt-get install -y python3-colcon-common-extensions python3-rosdep
         

      6. For convenience, source your ROS 2 installation and enable colcon auto-completion in your .bashrc file:

         These instructions are for bash shells; for other shells, configure accordingly.

         echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
         echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc
         source ~/.bashrc
         

      7. Initialize rosdep and configure the Isaac ROS rosdep definitions:

         sudo rosdep init
         sudo curl -o /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml \
            https://raw.githubusercontent.com/NVIDIA-ISAAC-ROS/isaac-ros-cli/release-4.1/docker/rosdep/extra_rosdeps.yaml
         echo "yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/00-nvidia-isaac.list
         rosdep update
         

      8. Remove potentially conflicting packages from your host system.

         As specified in the Isaac ROS CLI apt preference files, Isaac ROS has been tested with specific versions of the following packages:

         • CUDA 13.0

         • OpenCV 4.6.0

         • TensorRT 10.13.2.6

         If you have installed different versions of these packages on your host system, you may need to remove them to avoid conflicts.

         Note

         On Jetson Thor with JetPack 7.0, the OpenCV 4.8.0 packages are installed by default.

         Remove the conflicting packages with the following command:

         sudo apt-get remove -y libopencv* opencv*
         

         OpenCV 4.6.0 will then be automatically installed by the Isaac ROS packages that require it.

   2. Initialize the Isaac ROS CLI:

      sudo isaac-ros init venv
      

   Bare Metal

   Caution

   The baremetal mode is only recommended for advanced users.

   This mode installs Isaac ROS packages and their dependencies into your system Python environment.

   Without proper care, this has the potential to break your host system.

   1. Configure your host environment for Isaac ROS:

      1. Configure the CUDA apt repository:

         x86 Platforms

         wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb
         sudo dpkg -i cuda-keyring_1.1-1_all.deb
         rm cuda-keyring_1.1-1_all.deb
         

         Jetson Platforms

         wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/sbsa/cuda-keyring_1.1-1_all.deb
         sudo dpkg -i cuda-keyring_1.1-1_all.deb
         rm cuda-keyring_1.1-1_all.deb
         

      2. Add NVIDIA binary installation locations to your PATH:

         echo 'export PATH="/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/src/tensorrt/bin:${PATH}"' >> ~/.bashrc
         source ~/.bashrc
         

      3. Configure the Jetson apt repository:

         x86 Platforms

         sudo apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
         echo 'deb https://repo.download.nvidia.com/jetson/x86_64/noble r38.2 main' | sudo tee /etc/apt/sources.list.d/nvidia-jetson-apt-source.list
         

         Jetson Platforms

         sudo apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
         echo 'deb https://repo.download.nvidia.com/jetson/common r38.2 main' | sudo tee /etc/apt/sources.list.d/nvidia-jetson-apt-source.list
         

      4. Install ROS 2 Jazzy by following the official ROS 2 documentation:

      5. Install ROS 2 development tools:

         sudo apt-get update
         sudo apt-get install -y python3-colcon-common-extensions python3-rosdep
         

      6. For convenience, source your ROS 2 installation and enable colcon auto-completion in your .bashrc file:

         These instructions are for bash shells; for other shells, configure accordingly.

         echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
         echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc
         source ~/.bashrc
         

      7. Initialize rosdep and configure the Isaac ROS rosdep definitions:

         sudo rosdep init
         sudo curl -o /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml \
            https://raw.githubusercontent.com/NVIDIA-ISAAC-ROS/isaac-ros-cli/release-4.1/docker/rosdep/extra_rosdeps.yaml
         echo "yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/00-nvidia-isaac.list
         rosdep update
         

      8. Remove potentially conflicting packages from your host system.

         As specified in the Isaac ROS CLI apt preference files, Isaac ROS has been tested with specific versions of the following packages:

         • CUDA 13.0

         • OpenCV 4.6.0

         • TensorRT 10.13.2.6

         If you have installed different versions of these packages on your host system, you may need to remove them to avoid conflicts.

         Note

         On Jetson Thor with JetPack 7.0, the OpenCV 4.8.0 packages are installed by default.

         Remove the conflicting packages with the following command:

         sudo apt-get remove -y libopencv* opencv*
         

         OpenCV 4.6.0 will then be automatically installed by the Isaac ROS packages that require it.

   2. Initialize the Isaac ROS CLI:

      sudo isaac-ros init baremetal
      

      Acknowledge the prompt, then confirm to continue.

      Unattended/Non-Interactive Installation

      In some cases, it may be desirable to skip the prompt when initializing the baremetal mode.

      To perform a non-interactive installation, use the --yes flag:

      sudo isaac-ros init baremetal --yes
      

Configuring the Isaac ROS Development Environment

The Isaac ROS CLI uses layered configuration files to manage settings across all isolation modes.

To use these configuration files and customize your development environment, refer to the Isaac ROS Development Environment page.

Integrate External Data Sources (Optional)

Many Isaac ROS demos include pre-recorded rosbag data to help you get started as quickly as possible.

Optionally, these demos can also be integrated with external data sources, including cameras and the Isaac Sim simulation platform.

Sensors

Isaac ROS provides setup instructions for specific camera models from the following product lines:

• RealSense

• StereoLabs ZED

Calibrate your cameras depending on your type of camera and the object it is on:

• Monocular Camera

• Stereo Camera on Robot Arm

• Stereo Camera on Mobile Robot

Isaac Sim

Isaac Sim is NVIDIA’s robotics simulation platform powered by Omniverse.

Isaac Sim can be used to run and test the ROS 2 applications. There are two ways we can configure the system:

• Software in the Loop (SIL) refers to a configuration where the software being tested is not running on the target hardware platform. For example, Isaac ROS packages being tested on x86 before deployment on a Jetson device is SIL.

• Hardware in the Loop (HIL) refers to a configuration where the software is being tested on the target hardware platform. For example, Isaac ROS packages being tested on a Jetson device before deployment is HIL.

In both the configurations, Isaac Sim runs on a x86_64 machine providing sensor data and world information.

Isaac Sim 5.0 and Isaac Sim 5.1

1. Install Isaac Sim, choosing the appropriate working environment:

   • Native

   • Docker

   • Cloud

   Note

   This tutorial assumes the Native environment for Isaac Sim.

2. Follow the Running Native ROS instructions to ensure that ROS 2 and the required packages are installed to successfully enable the ROS 2 Bridge in Omniverse Isaac Sim.

3. Follow the instructions to launch Isaac Sim App Selector window and then click Open in Terminal button.

   

4. Using Isaac Sim ROS 2 library

   If you don’t have a system level ROS 2 install, follow the steps outlined here under Using Terminal > Ubuntu > Jazzy.

   Using bare-metal ROS 2 library

   If you have a system level ROS 2 install, follow the steps outlined here under Ubuntu 24.04 > Jazzy. Ensure your ROS 2 install is sourced before proceeding.

   Optionally, if ROS_DOMAIN_ID is needed to create a separate logical network, run the following commands.

   export ROS_DOMAIN_ID=<your_domain_id>
   

5. Launch Isaac Sim.

   ./isaac-sim.sh
   

   Note

   (Optional) NITROS bridge provides zero-copy GPU data transfer between Isaac Sim and Isaac ROS. This feature pre-allocates IPC GPU memory regardless of utilization. To enable NITROS bridge on the Isaac Sim side, run:

   ./isaac-sim.sh --/exts/isaacsim.ros2.bridge/enable_nitros_bridge=true
   

6. Open Isaac ROS Sample scene as shown below.

   First, enable Robotics Examples menu by clicking Window > Examples > Robotics Examples

   

   Then, in the Robotics Examples tab, select ROS2 > Isaac ROS > Sample Scene and click Load Sample Scene

   

7. Continue with the next steps in your specific Isaac ROS package tutorial.

   Note

   Make sure to set the ROS_DOMAIN_ID environment variable (if set earlier) before running the sample application.

Isaac Sim Tutorial Links

Isaac ROS includes a number of tutorials that demonstrate integration with Isaac Sim.

Each of these links takes you to a tutorial that is listed under Repositories and Packages. They are linked here as a reference and to help you find them faster.

Note

These tutorials were last validated with Isaac Sim 5.0 and Isaac Sim 5.1.

• Tutorial for AprilTag Detection with Isaac Sim

• Tutorial for Visual SLAM with Isaac Sim

• Tutorial for Nvblox with Isaac Sim

• Tutorial for DNN Object Detection with Isaac Sim

• Tutorial for SGM Stereo Disparity with Isaac Sim

• Tutorial for DNN Stereo Depth Estimation with Isaac Sim

• Tutorial for Occupancy Grid Localizer with Isaac Sim

• Tutorial for DNN Image Segmentation with Isaac Sim

• Tutorial for Isaac ROS Mission Client

• Tutorial for RT-DETR with Isaac Sim

• Tutorial for FoundationPose with Isaac Sim

• Tutorial for NITROS Bridge with Isaac Sim

• Tutorial for cuMotion MoveIt Plugin with Isaac Sim

• Tutorials for Isaac for Manipulation Reference Workflows with Isaac Sim

Run an Isaac ROS Demo

You’re now ready to run an Isaac ROS demo!

Navigating the Isaac ROS Site

• Isaac ROS offers a collection of GitHub Repositories, each focused on a general robotics problem area. Every repository has its own page under the repository index.

• Isaac ROS repositories are further organized into ROS 2 Packages, each focused on a specific solution implementation or use case. Each package has its own page under the repository-level page.

• Most packages contain a Quickstart, which is a self-contained example that allows you to quickly test out the package’s core functionality. Quickstarts are located on each package’s page.

• Additionally, many packages contain more advanced Tutorials that dive deeper into the package’s functionality. When available, tutorials are listed below the Quickstart on each package’s page.

• Package pages also contain Troubleshooting and API sections to help you use Isaac ROS in your own applications.

• Robotics fundamentals, NVIDIA technology, and other Concepts are explained under the concepts index.

Browse the available Isaac ROS Repositories and Packages to find your first quickstart.

Troubleshooting

See the troubleshooting section for help with setting up your development environment.