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ISAAC ROS (Advantech Isaac ROS Kit)

This document describes the isaac_ros_base / Isaac ROS container development and demo framework we provide. It helps users quickly run NVIDIA Isaac ROS official examples on Advantech platforms, and extend the same framework to build their own applications (apps).

tip
  • When running an example for the first time, it may automatically download/install required resources (e.g., models, datasets, dependencies). This is expected and may take longer.
info

Supported Versions

This document applies to the following Isaac ROS and ROS 2 combinations:

Isaac ROSROS 2Tensorrt
v3.2 (release-3.2)Humblev10.7.0
v4.5 (release-4.5)Jazzyv10.13.3

1. Isaac ROS Overview​

NVIDIA Isaac ROS is a set of GPU-accelerated packages built on ROS 2, providing optimized algorithms and nodes for common robotics workflows such as perception, localization, mapping, and vision inference (e.g., Visual SLAM, Nvblox 3D reconstruction, object detection, and segmentation).

On Jetson/GPU platforms, Isaac ROS is typically delivered via Docker containers to provide a consistent runtime environment, reducing dependency and version-compatibility issues so developers can focus on integration and application development.

2. Why Use This Package (Benefits & What isaac_ros_base Provides)​

isaac_ros_base provides a ready-to-use Isaac ROS development environment packaged in a Docker container.
It helps users quickly evaluate Isaac ROS capabilities and build their own robotics applications on top of a consistent, reproducible setup.

Key benefits:

  • Fast bring-up: start running Isaac ROS examples quickly without spending time on environment setup.
  • Reproducible development environment: a consistent container-based workflow that reduces "it works on my machine" issues.
  • Lower setup overhead: common dependencies and runtime prerequisites are prepared within the container workflow.
  • A solid foundation for customization: users can extend the provided framework to integrate their own pipelines and applications.
  • Easier troubleshooting and maintenance: environment changes are isolated, making updates and rollbacks more manageable.

Reference:

3. Location and Folder Structure​

warning

Make sure your target system satisfies the following conditions:

  • Advantech platforms
  • At least 50 GB hard drive free space
  • An active Internet connection is required
  • Use the English language environment in Ubuntu OS

After selecting and installing Isaac ROS Development Environment Function by following the instructions in the installer instructions, you can find the package at:

  • Isaac ROS Kit root:
    • /usr/local/Advantech/ros/container/ros-demokit/isaac_ros_kit

Common contents:

  • Launch entry:
    • launch_isaac.sh
  • Example apps:
    • apps/basic_examples (Isaac official basic examples)
    • apps/advanced_examples (advanced integration examples, e.g., nvblox_keep_map)
  • Development framework:
    • apps/develop (development-container usage and template notes)

4. Usage: One-Command Example Launch​

Overview​

User
  │
  ▼
launch_isaac.sh
  │
  ▼
Docker Container (Isaac ROS environment)
  │
  ├─ (first run / as needed) install_app.sh: download/install required assets & dependencies
  │
  └─ (every run) run_app.sh: start the example (e.g., ros2 launch ...)

The usage is:

cd /usr/local/Advantech/ros/container/ros-demokit/isaac_ros_kit
./launch_isaac.sh <app_folder> [optional parameters...]
  • <app_folder> is the relative path under apps/, for example:
    • basic_examples/isaac_ros_nvblox
    • basic_examples/isaac_ros_visual_slam
    • advanced_examples/nvblox_keep_map

The quick start example:

./launch_isaac.sh basic_examples/isaac_ros_nvblox
tip

ROS_DOMAIN_ID (Default: 90)

  • This package uses ROS_DOMAIN_ID=90 by default.
  • To change it, edit the ROS_DOMAIN_ID setting in launch_isaac.sh.

5. basic_examples (Isaac Official Examples)​

The examples below are located at:

  • /usr/local/Advantech/ros/container/ros-demokit/isaac_ros_kit/apps/basic_examples

Primary purposes:

  • Quickly validate that Isaac ROS official functionality runs correctly on the target platform
  • Use as a starting point for further development (extend using the same launch/installation framework)

5.1 isaac_ros_nvblox​

5.2 isaac_ros_visual_slam​

5.3 isaac_ros_yolov8​

warning

YOLOv8 Model Requirements

  • Due to licensing restrictions, the pre-converted YOLOv8 model file (yolov8s.plan) is NOT included in this package.
  • TensorRT Version Compatibility: The TensorRT engine (.plan) must be generated using the same TensorRT version as the provided Isaac ROS container. See Supported Versions for the TensorRT version provided by each container.
  • Before running this example, you must export the YOLOv8 model following the NVIDIA Isaac ROS YOLOv8 Documentation and place yolov8s.plan into: /home/ubuntu/workspaces/isaac_ros-dev/isaac_ros_assets/models/yolov8/yolov8s.plan

5.4 isaac_ros_unet​

5.5 isaac_ros_centerpose​

5.6 isaac_ros_occupancy_grid_localizer​

5.7 isaac_ros_cumotion_moveit​

6. Build Your Own App​

Inside each app directory you will find files like:

  • install_app.sh: for installation/preparation steps (e.g., download assets, install dependencies, initialize the environment)
  • run_app.sh: for launch/run commands (typically ros2 launch ...)

You can build your own app with this pattern:

  1. Copy an existing example folder (or use apps/develop as a template)
  2. Put required setup steps into install_app.sh
  3. Put your ROS 2 launch/run commands into run_app.sh
  4. Launch using the same entry point: 
    ./launch_isaac.sh <your_app_path>