Isaac ROS DP (developer preview) has been released with major updates and hardware acceleration for ROS2 Humble; this is a culmination of a 9 month joint effort with Open Robotics to optimize the platform for hardware acceleration of ROS2 nodes. Many thanks to those contributing to the effort.
This release includes packages for AI perception, image processing, navigation and adds:
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ROS2 Humble (Foxy deprecated)
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NITROS (NVIDIA Isaac Transport for ROS) package provides type adaptation (REP-2007) and type negotiation (REP-2009) for hardware acceleration in ROS2.
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Stereo disparity using ESS trained DNN for stereo camera depth prediction.
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Proximity segmentation using BI3D trained DNN for stereo camera proximity field detection excluding freespace from predictions and optimized to run on DLA hardware.
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Jetson Orin + Jetpack 5 + Isaac SIM 2022.1 (2021.2.1 deprecated)
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bug fixes
Preview the Isaac stereo perception running in real environments and simulation.
Significant performance improvements come with this release benefiting from hardware acceleration additions to Humble.
Package | Isaac ROS EA3 Foxy Jetson Xavier |
Isaac ROS DP Humble Jetson Xavier |
Isaac ROS DP Humble Jetson Orin |
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AprilTag (720p) | 101fps | 150fps (1.5x) | 260fps (1.7x) |
DOPE (object pose DNN) (VGA) |
12.5fps | 12.5fps (1x) | 43fps (3.4x) |
Image segmentation people detector (544p) |
30fps | 208fps (6.9x) | 325fps (1.5x) |
Proximity segmentation BI3D (576p) (DLA) |
N/A | 33fps | 62fps (1.9x) |
Stereo disparity ESS DNN (1080p) |
N/A | 24fps | 51fps (2.2x) |
Stereo disparity SGM CV (540p) |
60fps | 80fps (1.3x) | 166fps (2x) |
Isaac ROS DP (developer preview) update is available now on Isaac ROS GitHub with a full list of available ROS2 packages and is part of our commitment to provide features and hardware acceleration for autonomous robots.
Clone the repositories you need into your ROS workspace to build from source with colcon alongside your other ROS2 packages. Please note that this release has been tested on the NVIDIA Jetson AGX Orin developer kit and Jetson AGX Xavier developer kit with JetPack 5.0.1 developer preview (Ubuntu 20.04).
An incremental update for Jetpack 5.0 GA will be released late summer and a major update released in Oct at ROSCon Kyoto.