isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro humble. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro jazzy. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro kilted. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro rolling. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

Repository Summary

Description	NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages
Checkout URI	https://github.com/nvidia-isaac-ros/isaac_ros_nitros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	gpu ros nvidia hardware-acceleration jetson ros2-humble
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
isaac_ros_gxf	4.0.0
gxf_isaac_argus	4.0.0
gxf_isaac_atlas	4.0.0
gxf_isaac_camera_utils	4.0.0
gxf_isaac_cuda	4.0.0
gxf_isaac_flatscan_localization	4.0.0
gxf_isaac_gems	4.0.0
gxf_isaac_gxf_helpers	4.0.0
gxf_isaac_hesai	4.0.0
gxf_isaac_localization	4.0.0
gxf_isaac_message_compositor	4.0.0
gxf_isaac_messages	4.0.0
gxf_isaac_messages_throttler	4.0.0
gxf_isaac_optimizer	4.0.0
gxf_isaac_point_cloud	4.0.0
gxf_isaac_range_scan_processing	4.0.0
gxf_isaac_ros_cuda	4.0.0
gxf_isaac_ros_messages	4.0.0
gxf_isaac_segway	4.0.0
gxf_isaac_sight	4.0.0
gxf_isaac_timestamp_correlator	4.0.0
gxf_isaac_utils	4.0.0
isaac_ros_managed_nitros	4.0.0
custom_nitros_dnn_image_encoder	4.0.0
custom_nitros_image	4.0.0
custom_nitros_message_filter	4.0.0
custom_nitros_message_filter_interfaces	4.0.0
custom_nitros_string	4.0.0
isaac_ros_nitros	4.0.0
isaac_ros_nitros_bridge_ros2	4.0.0
isaac_ros_nitros_topic_tools	4.0.0
isaac_ros_nitros_camera_info_type	4.0.0
isaac_ros_nitros_compressed_image_type	4.0.0
isaac_ros_nitros_compressed_video_type	4.0.0
isaac_ros_nitros_detection2_d_array_type	4.0.0
isaac_ros_nitros_detection3_d_array_type	4.0.0
isaac_ros_nitros_disparity_image_type	4.0.0
isaac_ros_nitros_flat_scan_type	4.0.0
isaac_ros_nitros_image_type	4.0.0
isaac_ros_nitros_imu_type	4.0.0
isaac_ros_nitros_occupancy_grid_type	4.0.0
isaac_ros_nitros_odometry_type	4.0.0
isaac_ros_nitros_point_cloud_type	4.0.0
isaac_ros_nitros_pose_array_type	4.0.0
isaac_ros_nitros_pose_cov_stamped_type	4.0.0
isaac_ros_nitros_std_msg_type	4.0.0
isaac_ros_nitros_tensor_list_type	4.0.0
isaac_ros_nitros_twist_type	4.0.0
isaac_ros_pynitros	4.0.0

README

Isaac ROS NITROS

NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages.

Overview

Isaac ROS NITROS contains NVIDIA’s implementation of type adaptation and negotiation in ROS 2. To learn more about NITROS, see here.

Isaac ROS NITROS is composed of a number of individual packages, each with either a functional or structural purpose:

isaac_ros_gxf:: This package serves as a container for precompiled GXF extensions used by other Isaac ROS packages. While a number of GXF extensions used by Isaac ROS are provided with source, the extensions contained in isaac_ros_gxf are license constrained and are thus shipped as .so binaries.
isaac_ros_managed_nitros:: This package contains the wrapper classes that enable developers to add NITROS-compatible publishers and subscribers to third-party CUDA-based ROS nodes. For more information about CUDA with NITROS, see here.
isaac_ros_nitros:: This package contains the base NitrosNode class and associated core utilities that serve as the foundation for all NITROS-based ROS nodes.
isaac_ros_nitros_bridge:: This folder contains the implementation of the NITROS Bridge for inter-process communication.
isaac_ros_nitros_interfaces:: This package contains the definitions of the custom ROS 2 interfaces that facilitate type negotiation between NITROS nodes.
isaac_ros_nitros_topic_tools:: This folder contains a NITROS based implementation of some of the nodes in the topic_tools package.
isaac_ros_nitros_type:: This folder contains a number of packages, each defining a specific NITROS type and the associated type adaptation logic to convert to and from a standard ROS type.
isaac_ros_pynitros:: This folder contains the implementation of Python NITROS.

Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

Packages

Latest

Update 2025-10-24: Add support for CUDA streams in type adaptation

CONTRIBUTING

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro galactic. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro iron. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro melodic. Known supported distros are highlighted in the buttons above.

isaac_ros_nitros repository

gpu ros nvidia hardware-acceleration jetson ros2-humble

No version for distro noetic. Known supported distros are highlighted in the buttons above.