How to publish ROS2 NITROS Image from deepstream/gstreamer?

Autonomous Machines Robotics - Isaac Isaac ROS
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1

As titled.

Further info:
I am running JetPack 5.0.2 and a deepstream/gstreamer pipeline that produce video/x-raw(memory:NVMM) frames
Are there any example code that could publish a buffer that is already in GPU memory to ROS2 as NITROS?

2

NITROS only supports GPU memory transfers within a ROS 2 process, not across processes in gStreamer with DeepStream yet. There are no plans to support this at present but we’ll look into it.

3

Hi @hemals ,

Do you have an update on this? My understanding is the idea behind DeepStream is to also avoid unnecessary GPU/CPU memory copies and leverage the GPU as much as possible. Seems like a very similar concept as NITROS, no? If we already have an accelerated pipeline that leverages DeepStream, what do you believe is the best path to add NITROS support?

Thanks