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

Originally published at:

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

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?

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.