i have been working with the isaac ros sdk for a bit, specifically with isaac_ros_apriltags. per my understanding, the isaac_ros_apriltags package has two tag detectors implemented - one that uses libvpi (PFA only, meaning only jetson agx modules) and another that uses this libcuapriltags library located in the isaac_ros_nitros package for some reason, in addition to libcuvslam (link). im looking for more information regarding this library, specifically:
The libraries are closed source and will not be released.
NVIDIA Isaac Transport for ROS (NITROS) is a technology designed to facilitate streaming via ROS graphs that are enhanced by NVIDIA acceleration.
For more details you can find them at the concept page: NITROS — isaac_ros_docs documentation
I don’t know exactly why these libraries are located in the NITROS package, but I think it’s for better integration with the package.