Optimized Isaac ROS packages for Isaac Nova Orin.
Isaac ROS Nova provides a set of optimized packages to interface with the Isaac Nova Orin sensor suite. These packages integrate with hardware timestamp synchronization on Jetson Orin platforms to enable high-quality sensor fusion. Sensor data streams through Isaac ROS graphs using NITROS for NVIDIA-accelerated processing.
Note
Isaac ROS Nova requires having run nova-orin-init here
on your compute node before using any of the included packages.
- Hesai Pandar XT32 3D LiDAR
- Leopard Imaging HAWK stereo camera
- Leopard Imaging OWL monocular camera
- Bosch BMI088 IMU
This package is powered by NVIDIA Isaac Transport for ROS (NITROS), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.
| Sample Graph |
Input Size |
Nova Carter |
|---|---|---|
| Data Recorder Live Graph 4 Hawk Cameras |
1200p |
30.3 fps (per stream avg) 0 dropped frames (avg) |
Please visit the Isaac ROS Documentation to learn how to use this repository.
isaac_ros_correlated_timestamp_driverisaac_ros_data_recorderisaac_ros_data_replayerisaac_ros_data_validationisaac_ros_hawkisaac_ros_hesaiisaac_ros_imu_bmi088isaac_ros_owl
Update 2024-05-30: Introduced Data Recorder and other utilities