Improve Perception Performance for ROS 2 Applications with NVIDIA Isaac Transport for ROS

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Originally published at: https://developer.nvidia.com/blog/improve-perception-performance-for-ros-2-applications-with-nvidia-isaac-transport-for-ros/

Announcing NVIDIA Isaac Transport for ROS (NITROS) pipelines that use new ROS Humble features developed jointly with Open Robotics.

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These sound great. I just have a question, how can us developers take advantage of these taking into account that jetpack currently supports only Ubuntu 18.04 → ROS melodic, or is there an official way to install ROS 2 humble (Ubuntu 22.04) on any Jetson hardware?
Thanks

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Good question! You’re right that Foxy is only supported on Ubuntu 20.04 Focal and Humble in Ubuntu 22.04 Jammy, but Jetpack 4.6.1 is Ubuntu 18.04 Bionic and Jetpack 5 is 20.04 Focal. In order to help with this, we build ROS2 distributions from source into Docker images and provide utilities to use them for development in Isaac ROS Common](GitHub - NVIDIA-ISAAC-ROS/isaac_ros_common: Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.). Currently, this supports Jetpack 4.6.1 with Foxy and will soon support Jetpack 5 with Humble in our upcoming release in June 2022.