Optimized Isaac ROS packages for Isaac Nova Orin.
Isaac ROS Nova provides a set of optimized packages and tools to interface with the Nova 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
It is recommended to use Nova through the Isaac ROS Nova meta-package. This package will launch all the sensor drivers for your defined Nova system. Guidelines and instructions on its use can be found here.
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 |
22.0 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_ground_calibrationisaac_ros_hawkisaac_ros_hesaiisaac_ros_imu_bmi088isaac_ros_novaisaac_ros_nova_recorderisaac_ros_owl
Update 2024-12-10: Added ground calibration support