Isaac ROS

https://nvidia-isaac-ros.github.io
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Isaac ROS is a collection of NVIDIA CUDA-accelerated computing packages and AI models designed to...
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### Install Isaac ROS Examples Package

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_compression/isaac_ros_h264_decoder/index.html

Installs the isaac_ros_examples package, which includes necessary launch files for the quickstart demo.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples

```

--------------------------------

### Install Isaac ROS Examples

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html

Installs the necessary example packages for Isaac ROS.

```bash
sudo apt-get update

sudo apt-get install -y ros-jazzy-isaac-ros-examples
```

--------------------------------

### Install ZED and Examples Packages

Source: https://nvidia-isaac-ros.github.io/v/release-4.5/repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag/index.html

Install the Isaac ROS examples package along with the necessary package for ZED camera integration.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-zed

```

--------------------------------

### Install nav2-bringup for Navigation Examples

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html

Installs the nav2-bringup package, which provides navigation capabilities. This is optional and can be omitted if navigation is not required for the examples.

```bash
sudo apt-get install -y ros-jazzy-nav2-bringup
```

--------------------------------

### Install Isaac ROS Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_apriltag/isaac_ros_apriltag/index.html

Installs the necessary example dependencies for Isaac ROS.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples
```

--------------------------------

### Install Isaac ROS Examples Package

Source: https://nvidia-isaac-ros.github.io/concepts/pose_estimation/foundationpose/tutorial_tracking.html

Installs the ros-jazzy-isaac-ros-examples package, which provides example launch files and nodes for Isaac ROS.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples
```

--------------------------------

### Install ZED and Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html

Installs Debian packages for ZED camera support and Isaac ROS examples.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-stereo-image-proc ros-jazzy-isaac-ros-zed

```

--------------------------------

### Install Isaac ROS Examples Package

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html

Installs the 'ros-jazzy-isaac-ros-examples' package, which provides example launch files and configurations for Isaac ROS packages.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples

```

--------------------------------

### Install cuMotion Examples (Binary)

Source: https://nvidia-isaac-ros.github.io/concepts/manipulation/cumotion_moveit/tutorial_isaac_sim.html

Installs the prebuilt Debian package for Isaac ROS cuMotion examples and its dependencies.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-cumotion-examples

```

--------------------------------

### Install Isaac ROS Examples and RealSense Packages

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html

Installs both the Isaac ROS examples and the Isaac ROS RealSense packages. This is required for running demos that integrate with RealSense cameras.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense

```

--------------------------------

### Launch RViz for Quickstart

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_mapping_and_localization/isaac_ros_occupancy_grid_localizer/index.html

Launches RViz with a pre-configured display setup for the occupancy grid localizer quickstart. This helps in visualizing the localization results.

```bash
rviz2 -d  $(ros2 pkg prefix isaac_ros_occupancy_grid_localizer --share)/rviz/quickstart.rviz

```

--------------------------------

### Install RealSense and Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/concepts/pose_estimation/foundationpose/tutorial_tracking.html

Installs the ros-jazzy-isaac-ros-examples and ros-jazzy-isaac-ros-realsense packages for RealSense camera integration with Isaac ROS.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense
```

--------------------------------

### Install Isaac ROS Examples Dependency

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_dnn_stereo_depth/isaac_ros_ess/index.html

Installs the necessary ROS package for Isaac ROS examples. Run this before launching any example.

```bash
sudo apt-get update


```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples

```

--------------------------------

### Pick and Place Tutorial Setup

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Build the asset bringup package to download models required for the Pick and Place tutorial, including FoundationPose and SyntheticaDETR. Ensure MANIPULATOR_INSTALL_ASSETS is set.

```bash
export MANIPULATOR_INSTALL_ASSETS=1
colcon build --packages-up-to isaac_ros_manipulation_asset_bringup

```

--------------------------------

### Run Occupancy Grid Localizer Quickstart Launch File

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_mapping_and_localization/isaac_ros_occupancy_grid_localizer/index.html

Launches the demo for the occupancy grid localizer package. This command starts the necessary nodes for a quickstart demonstration.

```bash
ros2 launch isaac_ros_occupancy_grid_localizer isaac_ros_occupancy_grid_localizer_quickstart.launch.py

```

--------------------------------

### Install RealSense and Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html

Installs Debian packages for RealSense camera support and Isaac ROS examples.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense

```

--------------------------------

### Run Isaac Sim Example Launch File

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html

Launches the isaac_sim_example.launch.py for Nvblox, specifying the path to the quickstart assets and optionally disabling navigation.

```bash
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False
```

--------------------------------

### Setup FoundationPose Assets

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Downloads FoundationPose quickstart assets, including the Mac and Cheese sample object.

```python
def setup_foundation_pose() -> bool

```

--------------------------------

### Launch RT-DETR in Isaac Sim

Source: https://nvidia-isaac-ros.github.io/concepts/object_detection/rtdetr/tutorial_isaac_sim.html

Launch the Isaac ROS RT-DETR node with Isaac Sim using this command. Ensure Isaac Sim is installed and set up according to the Isaac ROS Isaac Sim Setup Guide.

```bash
ros2 launch isaac_ros_rtdetr isaac_ros_rtdetr_isaac_sim.launch.py

```

--------------------------------

### Run ZED Example Live

Source: https://nvidia-isaac-ros.github.io/v/release-4.5/concepts/scene_reconstruction/nvblox/tutorials/tutorial_zed.html

Launch the ZED example using a live feed from a compatible ZED camera. Replace `<ZED_CAMERA_MODEL>` with your camera model (e.g., zed2, zedx).

```bash
ros2 launch nvblox_examples_bringup zed_example.launch.py \
camera:=<ZED_CAMERA_MODEL>
```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html

Downloads the quickstart assets for `isaac_ros_detectnet` from NGC, dynamically finding the latest compatible version.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_detectnet"
NGC_RESOURCE="isaac_ros_detectnet_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=5
VERSION_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/versions"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r \
    ".recipeVersions[] \
    | .versionId as $v \
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$")) \
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber} \
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION) \
    | $v \
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Isaac Sim Tutorials Setup

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Configure asset installation and model resolution for Isaac Sim tutorials. Set MANIPULATOR_INSTALL_ASSETS and optionally FOUNDATIONSTEREO_MODEL_RES before building the package.

```bash
export MANIPULATOR_INSTALL_ASSETS=1
export FOUNDATIONSTEREO_MODEL_RES=low_res
colcon build --packages-up-to isaac_ros_manipulation_asset_bringup

```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_stereo_image_proc/index.html

Downloads the `quickstart.tar.gz` asset for `isaac_ros_stereo_image_proc` from NGC, dynamically selecting the latest compatible version.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_stereo_image_proc"
NGC_RESOURCE="isaac_ros_stereo_image_proc_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/versions"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r "
    .recipeVersions[]
    | .versionId as $v
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$"))
    | split(".") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber}
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION)
    | $v
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Install Binary Package for isaac_ros_jetson_stats

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_jetson/isaac_ros_jetson_stats/index.html

Installs the prebuilt Debian package for the `isaac_ros_jetson_stats` ROS package. This is the simplest way to get the package installed.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-jetson-stats

```

--------------------------------

### Install RealSense and Centerpose Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html

Installs the Isaac ROS examples and RealSense packages required for Centerpose.

```bash
sudo apt-get update

sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense
```

--------------------------------

### Run DetectNet Demo with Rosbag

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html

Launches the DetectNet demo using a quickstart rosbag. This requires the isaac_ros_examples package and specific interface specs.

```bash
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=detectnet interface_specs_file:${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_detectnet/quickstart_interface_specs.json
```

--------------------------------

### Install Cyclone DDS

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/sim_to_real/tutorial_sim_to_real.html

Installs the Cyclone DDS Real-World Middleware Interface. This is a one-time setup step.

```bash
sudo apt-get install -y ros-jazzy-rmw-cyclonedds-cpp

```

--------------------------------

### Play FoundationPose Quickstart Bag File

Source: https://nvidia-isaac-ros.github.io/v/release-4.5/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html

Plays the FoundationPose quickstart rosbag. Ensure the Isaac ROS environment is activated.

```bash
ros2 bag play -l ${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose/quickstart.bag/

```

--------------------------------

### Install Cyclone DDS

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/isaac_sim/tutorial_isaac_sim_pick_and_place.html

Install the Cyclone DDS package for ROS 2 Jazzy. This is a one-time setup.

```bash
sudo apt-get install -y ros-jazzy-rmw-cyclonedds-cpp
```

--------------------------------

### Install Isaac ROS Manipulation Pick and Place Binary Package

Source: https://nvidia-isaac-ros.github.io/v/release-4.5/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_pick_and_place/index.html

Installs the prebuilt Debian package for the isaac_ros_manipulation_pick_and_place package. This is the recommended installation method for quickstarts.

```bash
sudo apt-get install -y ros-jazzy-isaac-manipulator-pick-and-place

```

--------------------------------

### Run Resize Launch File

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_image_proc/index.html

Launches the resize demo using `isaac_ros_examples`, demonstrating image resizing capabilities.

```bash
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=resize

```

--------------------------------

### Install Rviz2 and Nav2

Source: https://nvidia-isaac-ros.github.io/v/release-4.5/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html

Installs rviz2 for visualization and nav2-bringup for navigation examples. These can be omitted if visualization or navigation is not required.

```bash
sudo apt-get install -y ros-jazzy-rviz2
source /opt/ros/jazzy/setup.bash
```

```bash
sudo apt-get install -y ros-jazzy-nav2-bringup
```

--------------------------------

### Export Environment Variables and Run Setup Script

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/setup/setup_with_gripper.html

Sets up perception models and downloads sample assets. Ensures all models are installed correctly.

```bash
export MANIPULATOR_INSTALL_ASSETS=1
export FOUNDATIONSTEREO_MODEL_RES=low_res

ros2 run isaac_ros_manipulation_asset_bringup setup_perception_models.py --models all

```

--------------------------------

### Install ZED and Centerpose Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html

Installs the Isaac ROS examples, image processing, and ZED packages for Centerpose.

```bash
sudo apt-get update

sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-image-proc ros-jazzy-isaac-ros-zed
```
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