Release Notes#

Isaac ROS 4.5.0 July 6, 2026#

Packages available as 4.5.0 Release tagged v4.5.0 on GitHub.

What’s New#

Updates including:

  • Reduced NITROS build/runtime complexity by sun-setting GXF implementation

  • New CUDA streaming support for NITROS messaging

  • isaac_ros_dnn_stereo_depth: Added the DNN stereo decoder package, moved ESS and FoundationStereo workflows to the decoder package, and added Fast-FoundationStereo model support

  • isaac_ros_compression: Updated H.264 encoder and decoder support with native V4L2 implementations, dynamic size handling, encoder/decoder QoS updates, and improved shutdown cleanup

  • isaac_ros_cumotion: Updated cuMotion to 1.1.0, improved self-consistent ESDF planning, added AABB clearing for drop-pose planning, and flipped controller PoseArray hand order to align with Isaac ROS Teleop

  • isaac_ros_manipulation: Added Flexiv Rizon support, “Bring Your Own Robot” integration guide, and updated manipulation workflows for Flexiv, Universal Robots, static planning scenes, and cloud pick-and-place

  • isaac_ros_teleop: Added Docker-free CloudXR runtime support, Meta Quest 3 headset support, raw controller data publishing, configurable XR pose transforms, RViz visualization, and updated PoseArray hand order

  • isaac_ros_physical_ai: Added Unitree G1 data recording and GR00T deployment workflows, updated Unitree G1 teleoperation for simulation and real hardware, and added support for G1 firmware 1.5.1 acknowledgment handling

  • isaac_ros_data_tools: Added the MCAP-to-LeRobot converter, multiple recording-session conversion, FPS resampling, and action.effort export support

  • isaac_ros_robots: Updated Unitree G1 bridge and bringup defaults, including topic names, frame names, controller configuration, GR00T launch behavior, and bridge acknowledgment checks

  • isaac_ros_sipl_camera: Improved timestamp correlation, launch argument handling, and test robustness

Issues Addressed#

This release has fixed the following known issues:

  • isaac_ros_dnn_stereo_depth: Fixed FoundationStereo package dependencies and improved RealSense, ZED, and Isaac Sim workflows to avoid retaining aspect ratio during resize

  • isaac_ros_image_segmentation: Fixed SAM2 quickstart dependencies for Virtual Environment and Bare Metal flows. (nvbugs/5851967, nvbugs/6139830)

  • isaac_ros_pose_estimation: Fixed CenterPose tensor names and NITROS synchronization, DOPE quickstart tensor naming, and stale TensorRT engine cache failures on Thor. (nvbugs/6032663)

  • isaac_ros_nvblox: Added compatibility with both supported Isaac Sim semantic-label JSON formats

  • isaac_ros_h264_encoder: Fixed dynamic resolution handling and V4L2 buffer cleanup on shutdown

  • isaac_ros_tensor_rt and isaac_ros_triton: Updated default QoS queue size and Triton model directory documentation. (nvbugs/6168288, nvbugs/6207959)

  • isaac_ros_physical_ai: Fixed RealSense camera namespaces for real Unitree G1 hardware to match simulation workflows

  • isaac_ros_manipulation: Fixed Flexiv DNN policy asset installation, manipulation release package paths, and selected Isaac Sim gear assembly workflow issues

Limitations#

This release has the following known limitations, with workarounds available in the troubleshooting section:

  • isaac_ros_dnn_stereo_depth (ESS, FoundationStereo, and Fast-FoundationStereo): When run with RealSense, ZED, or Isaac Sim, the pipeline may intermittently fail to produce disparity or point cloud output, drop frames, or show no RViz output due to synchronization issues in the DNN stereo decoder node between CameraInfo messages and disparity tensors. (nvbugs/6380333, nvbugs/6396641)

  • isaac_ros_foundationstereo: Fast-FoundationStereo is a research model and is not intended for commercial use. For commercial applications, use FoundationStereo.

  • isaac_ros_detectnet: The PeopleNet quickstart setup script may require a manual TensorRT engine generation step in environments where trtexec is not available at /usr/src/tensorrt/bin/trtexec. (nvbugs/6350634)

  • isaac_ros_stereo_image_proc: The Isaac Sim stereo image proc workflow may fail to visualize the point cloud in RViz due to PointCloud2 conversion or frame metadata issues. (nvbugs/6172434)

  • isaac_ros_physical_ai: During Unitree G1 real-hardware teleoperation, the robot hands may lower after several minutes of operation due to motor temperature limits.

  • isaac_ros_physical_ai: During the Unitree G1 GR00T deploy workflow, ros2_control_node may abort with a robot state timeout if the host cannot receive the first DDS robot state message from the robot. Verify the host-to-robot network connection, reboot the host and robot if needed, and rerun setup_network.py before launching the workflow. (nvbugs/6403279)

  • isaac_ros_h264_encoder: On DGX Spark, the H.264 encoder may fail to open the V4L2 encoder device during initialization.

  • isaac_ros_cumotion: The cumotion_moveit workflow with a UR10e robot may fail to plan when Nvblox is enabled. (nvbugs/6195703)

  • isaac_ros_cumotion_robot_segmenter: The standalone robot launch file may hang silently because the composable node container is not created in standalone mode. (nvbugs/6151225)

  • isaac_ros_manipulation: Workflows that involve pose estimation may generate incorrect pose estimates when using ESS or FoundationStereo depth. As a workaround, use RealSense/camera sensor depth instead.

  • isaac_ros_manipulation: In Isaac Sim, the gear assembly workflow may fail during large gear insertion or while planning the grasp for the second, smaller gear. (nvbugs/6229083)

  • isaac_ros_manipulation: In Isaac Sim, the pick-and-place workflow may fail to pick the mac-and-cheese object, object_class: 22, with the Robotiq 2F-140 gripper. (nvbugs/6281625)

  • isaac_ros_dope: The DOPE quickstart may publish non-finite bounding box poses in /detections, which can cause RViz to crash when visualizing detections.

Isaac ROS 4.4.0 April 30, 2026#

Packages available as 4.4.0 Release tagged v4.4.0 on GitHub.

What’s New#

Updates including:

  • isaac_ros_manipulation: Renamed isaac_manipulator to isaac_ros_manipulation

  • isaac_ros_cumotion: Updated the planner backend to use cuMotion as part of the Isaac ROS Manipulation refactor

  • isaac_ros_teleop: New package for XR-headset teleoperation

  • isaac_ros_physical_ai: New repository focused on Physical AI applications

  • isaac_ros_robots: New repository release with robot support packages

Limitations#

This release has the following known limitations, with workarounds available in the troubleshooting section:

  • Isaac for Manipulation object-following workflows on Thor can segfault in component_container_mt when nvblox is enabled together with GXF-based perception nodes such as RT-DETR preprocessing or FoundationPose. Refer to the troubleshooting section.

  • Isaac for Manipulation gear insertion workflows may not publish a segmentation mask to a ROS topic due to a NITROS publisher format mismatch

  • isaac_ros_cumotion_robot_segmenter: The launch file is not yet supported when running as a standalone node. Refer to the troubleshooting section.

Isaac ROS 4.3.0 March 23, 2026#

Packages available as 4.3.0 Release tagged v4.3.0 on GitHub.

What’s New#

Updates including:

Isaac ROS 4.2.0 February 19, 2026#

Packages available as 4.2.0 Release tagged v4.2.0 on GitHub.

What’s New#

Updates including:

  • Support for DGX Spark

  • Support for JetPack 7.1

  • Support for Thor T4000 SKU

  • isaac_ros_dnn_stereo_depth: Add support for FoundationStereo v2

  • isaac_manipulator: New sim-to-real tutorial for gear assembly insertion policy on UR10e

  • isaac_mapping_ros: Support for visual map creation and localization with hand-held camera

Limitations#

This release has the following known limitations, with workarounds available in the troubleshooting section:

  • The Mission Dispatch and Mission Database containers are not yet supported on DGX Spark

  • RealSense cameras are not yet supported on DGX Spark due to SDK and kernel compatibility issues

  • isaac_mapping_ros: r2b dataset used in map creation tutorial is for map validation only; localization examples are not provided for this sample

Isaac ROS 4.1.0 February 2, 2026#

Packages available as 4.1.0 Release tagged v4.1.0 on GitHub.

What’s New#

Updates including:

  • Added support for two new Docker-optional development and deployment modes: Virtual Environment and Bare Metal

  • isaac_ros_nvblox: New dynamics support for Lidar and Lidar motion compensation

  • sensor_mounting_rig: Support for Jetson AGX Thor RealSense Rig

  • isaac_ros_visual_slam: Support for RGBD cameras (isaac_ros_visual_slam #138)

  • isaac_manipulator: New sim-to-real tutorial for gear assembly reach policy on UR10e

  • isaac_ros_nitros: Point cloud support for CUDA with NITROS

Limitations#

This release has the following known limitations, with workarounds available in the troubleshooting section:

  • Isaac ROS is currently not supported on DGX Spark

  • FoundationStereo model conversion in fp16 can cause an Out-of-Memory error due to a limitation in the version of TensorRT used by Isaac ROS

  • The PyTorch backend of the Triton Inference Server is not supported. (nvbugs/5737017)

  • The SAM2 visualization script may fail due to a numpy mismatch when doing the Virtual Environment flow. Downgrading numpy to 1.26.4 may fix this issue. (nvbugs/5851967)

  • The DOPE quickstart will fail on Jetson AGX Thor when converting from an ONNX model to a TensorRT Plan file due to unsupported layers. (nvbugs/5548869)

Issues Addressed#

This release has fixed the following known issues:

  • Stability issues for RealSense SDK support for JetPack 7 can be resolved by following RealSense setup tutorial. (nvbugs/5561995)

Isaac ROS 4.0 Update 1 December 10, 2025#

Packages available as 4.0 Update 1 tagged v4.0-1 on GitHub.

What’s New#

Updates including:

  • isaac_ros_nitros_bridge: Fix NITROS communication with Isaac Sim by adding Docker argument --pid=host

  • isaac_ros_nova_interfaces: Restore interfaces package

  • isaac_ros_rtdetr: Support third party RT-DETR models

  • isaac_ros_common: Correct asset installation path inside Debian packages

Isaac ROS 4.0.0 October 24, 2025#

Packages available as 4.0.0 Release tagged v4.0.0 on GitHub.

What’s New#

Updates including:

  • support for Jetson AGX Thor

  • support for JetPack 7.0 / Ubuntu 24.04 on CUDA 13.0

  • tested with Isaac Sim 5.1

  • Isaac for Manipulation reference workflows formerly known as Isaac Manipulator

  • isaac_manipulator: New gear assembly with contact rich insertion policy workflow

  • isaac_manipulator: New multi-object pick-and-place workflow based on behavior trees orchestration

  • isaac_ros_image_pipeline: Improved SGM disparity using confidence thresholding in VPI

  • isaac_ros_pose_estimation: Improved FoundationPose support

  • isaac_ros_dnn_stereo_depth: Add FoundationStereo support

  • isaac_ros_object_detection: Add GroundingDINO support

  • isaac_ros_image_segmentation: Add Segment Anything 2 support

Limitations#

This release has the following known limitations, with workarounds available in the troubleshooting section:

  • Isaac Perceptor and Nova packages not yet optimized for AGX Thor

  • topic_based_ros2_control package forked from PR

  • ur package forked from Universal_Robots_ROS2_Driver and Universal_Robots_Client_Library

  • ZED SDK had not been updated for compatibility with Jetson Thor yet, so this release has not been tested with ZED cameras

  • RealSense SDK support for JetPack 7 may have stability issues where images are not being published as expected, quickstarts may be affected (nvbugs/5561995)

  • MobileSAM conversion to ONNX may fail because of PyTorch change in default value for weights_only in 2.6+. Try setting TORCH_FORCE_NO_WEIGHTS_ONLY_LOAD to 1 to restore previous PyTorch behavior. (nvbugs/5465937)

  • NITROS Bridge topics from Isaac Sim 5.1 may not be received through DDS, impacts object following manipulation Sim tutorial (nvbugs/5559459)

  • loading Nvblox sample scene in Isaac Sim 5.1 can fail unless loaded through content window > Samples > NvBlox > nvblox_sample_scene.usd (nvbugs/5604335)

  • FoundationStereo model conversion can take more than 30 minutes or more (nvbugs/5588008)

  • running isaac_ros_h264_decoder` concurrently with isaac_ros_h264_encoder` can cause the decoder to intermittently produce no output (nvbugs/5554121)

  • DOPE can fail to detect objects in manipulation workflows (nvbugs/5605372)

  • DetectNet decoder can produce multiple, overlapping image bounding box detections due to issue in DBScan implementation (nvbugs/5569952)

  • nvblox RealSense people segmentation example may not show correct color overlay in RViz for people detection (nvbugs/5604032)

Contributions#

Isaac ROS 3.2 Update 15 December 10, 2025#

Packages available as 3.2 Update 15 tagged v3.2-15 on GitHub.

What’s New#

Updates including:

  • isaac_perceptor: Fix rosdep install to scan entire workspace and ensure all dependencies are installed

  • isaac_ros_common: Update Perceptor asset tarballs for TensorRT 10.3

Isaac ROS 3.2 Update 14 November 12, 2025#

Packages available as 3.2 Update 14 tagged v3.2-14 on GitHub.

What’s New#

Updates including:

  • isaac_manipulator: Update default test timeout for proof-of-life tests

  • isaac_ros_common: Pin tensorrt dependency to 10.3.0

  • isaac_ros_pose_estimation: Enhance FoundationPose dynamic mesh reloading support

Isaac ROS 3.2 Update 13 October 8, 2025#

Packages available as 3.2 Update 13 tagged v3.2-13 on GitHub.

What’s New#

Updates including:

  • isaac_manipulator: Update default configuration for proof-of-life tests

  • isaac_ros_common: Pin libcudnn9 dependency for CUDA 12

  • isaac_ros_mapping_and_localization: Add user-configurable camera topic names to rosbag data converter utility

  • isaac_ros_mission_client: Update Nav2 costmap configuration for improved stability

  • isaac_ros_nitros: Improve security in precompiled GXF extensions

  • isaac_ros_nvblox: Fix deserialization of Nvblox map when dynamic object detection is enabled

  • nova_carter_bringup: Fix boolean parameter being incorrectly parsed as a string

  • nova_developer_kit_bringup: Improve robustness for dry run launch tests

Isaac ROS 3.2 Update 12 July 24, 2025#

Packages available as 3.2 Update 12 tagged v3.2-12 on GitHub.

What’s New#

Updates including:

  • Update build instructions for docking with Nova Carter.

  • ros2_benchmark: Clean up lint issues

Isaac ROS 3.2 Update 11 July 10, 2025#

Packages available as 3.2 Update 11 tagged v3.2-11 on GitHub.

Feature Requests & Issues Addressed#

This release contains fixes to address user feedback, including:

Isaac ROS 3.2 Update 10 July 3, 2025#

Packages available as 3.2 Update 10 tagged v3.2-10 on GitHub.

What’s New#

Updates including:

  • Remove Isaac ROS 2.1 Buildfarm for Ubuntu 20.04 Focal

  • Pin ZED Camera driver dependency for ROS 2 Humble

  • Updated gmock and gtest usages across Isaac ROS packages

  • isaac_ros_pose_estimation, isaac_ros_nitros: Enhance FoundationPose with symmetry_axes, fixed_axis_angles, and fixed_translations options, as well as an option to save intermediate results to disk for debugging purposes.

  • isaac_ros_mission_client: Update default Nav2 parameters in config for Mission Client

  • isaac_ros_nova, nova_carter: Improve Lichtblick build robustness using NVIDIA-hosted mirror

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 Manipulator 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 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 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:

  • Nova Calibration Tool is deprecated.

  • The Debian package for isaac_ros_pynitros can only be installed inside the Isaac ROS environment.

  • 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 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_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 (deprecated):

  • Intel RealSense drivers do not support Humble out-of-the-box.

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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