Isaac ROS Teleop#

Isaac ROS Teleop with Unitree G1

Overview#

Isaac ROS Teleop contains a ROS 2 package for robot data collection. isaac_ros_teleop relies on Isaac Teleop, a framework for high-fidelity ego-centric and robot data collection. Isaac Teleop is designed to address the data bottleneck in robot learning by streamlining device integration, allowing for high-fidelity human demo data collection, and fosters device and data interoperability.

This repository is focused on using XR headsets for gripper or tri-finger hand manipulation using the PICO 4 Ultra or Meta Quest 3 headset.

Quickstarts#

Packages#

Supported Platforms#

This package is designed and tested to be compatible with ROS 2 Lyrical running on Jetson or an x86_64 system with an NVIDIA GPU.

Platform

Hardware

Software

Storage

Notes

Jetson

Jetson Thor and Jetson Orin

JetPack 7.2

128+ GB NVMe SSD

For best performance, ensure that power settings are configured appropriately for your platform: Jetson Thor power settings or Jetson Orin power settings.

x86_64

Ampere or higher NVIDIA GPU Architecture with 8 GB RAM or higher

Ubuntu 24.04

32+ GB disk space available
CUDA 13.2+
NVIDIA Driver 595+

Isaac ROS Environment#

To simplify development, we strongly recommend leveraging the Isaac ROS CLI by following these steps. This streamlines your development environment setup with the correct versions of dependencies on all supported platforms.

Note

All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS CLI-managed environment as a prerequisite.

Customize your Dev Environment#

To customize your development environment, refer to this guide.

Updates#

Date

Changes

2026-09-21

Publish end-effector poses as teleop_ros2_interfaces/NamedPoseArray instead of geometry_msgs/PoseArray, and add the pose_reset_config launch parameter that starts pose_reset_node

2026-08-18

Support auto-launching CloudXR via the node, publish head pose, and add pose_reset_node.

2026-07-06

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

2026-04-30

Initial release of isaac_ros_teleop