Can't reach the maximum capacity while running Isaac ROS Foundationpose in Jetson AGX

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

I am working with a Jetson AGX and have followed the complete tutorial to set up Isaac ROS along with FoundationPose. I’m currently running FoundationPose tracking, which is said to support up to 120 fps. However, when using rosbags, I can only achieve a maximum of 23 fps. Could you please help identify the factors that might be limiting its performance?

Rosbag input frequency is varied from 1fps to 100 fps but max output frequency reached is 23 fps

Jetson GUI:

Mode: 50W

Output frequency: /tracking/output

2

Hi @sarthakgarg0303

Thank you for your message, and I apologize for the delay in this topic.

The first suggestion to achieve the same result is to disable all other processes working with the GPU and run only the Isaac ROS demo.

To better investigate which software is using the GPU and/or CPU you can use two different tools:

  • jtop (provide a list with all software working with the GPU)
  • top/htop (all processes are running)

Let me know if you can now reach the same fps.

Best,
Raffaello

4

Hi @user109294

The launch.py for this tutorial is available here: isaac_ros_pose_estimation/isaac_ros_foundationpose/launch at main · NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation · GitHub

core: isaac_ros_pose_estimation/isaac_ros_foundationpose/launch/isaac_ros_foundationpose_core.launch.py at main · NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation · GitHub

Launcher: isaac_ros_pose_estimation/isaac_ros_foundationpose/launch/isaac_ros_foundationpose.launch.py at main · NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation · GitHub

Best,
Raffaello