Isaac ROS Nova

Optimized Isaac ROS packages for Isaac Nova Orin.

Overview

Isaac ROS Nova provides a set of optimized packages to interface with the Isaac Nova Orin sensor suite. These packages integrate with hardware timestamp synchronization on Jetson Orin platforms to enable high-quality sensor fusion. Sensor data streams through Isaac ROS graphs using NITROS for NVIDIA-accelerated processing.

Note

Isaac ROS Nova requires having run nova-orin-init here on your compute node before using any of the included packages.

• Hesai Pandar XT32 3D LiDAR
• Leopard Imaging HAWK stereo camera
• Leopard Imaging OWL monocular camera
• Bosch BMI088 IMU

Isaac ROS NITROS Acceleration

This package is powered by NVIDIA Isaac Transport for ROS (NITROS), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.

Performance

Sample Graph	Input Size	Nova Carter
Data Recorder Live Graph 4 Hawk Cameras	1200p	30.3 fps (per stream avg) 0 dropped frames (avg)

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Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

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Packages

• isaac_ros_correlated_timestamp_driver
  • Overview
  • Quickstart
  • Troubleshooting
  • API
• isaac_ros_data_recorder
  • Overview
  • Quickstart
  • Try More Examples
  • Troubleshooting
  • API
• isaac_ros_data_replayer
  • Overview
  • Quickstart
  • Troubleshooting
  • API
• isaac_ros_data_validation
  • Overview
  • Quickstart
  • Troubleshooting
  • API
• isaac_ros_hawk
  • Overview
  • Quickstart
  • API
  • Troubleshooting
• isaac_ros_hesai
  • Overview
  • Quickstart
  • Troubleshooting
  • API
• isaac_ros_imu_bmi088
  • Overview
  • Quickstart
  • Troubleshooting
  • API
• isaac_ros_owl
  • Overview
  • Quickstart
  • Troubleshooting
  • API

Latest

Update 2024-09-26: Update for Isaac ROS 3.1