![]() NVIDIA Isaac GEMs for ROS are distributed for x86_ 64/dGPU (Ubuntu 20.04) and Jetson Xavier NX/AGX Xavier with the latest NVIDIA JetPack 4.6 distribution. NVIDIA Isaac GEMs provide hardware-accelerated robotics capabilities in a ROS package, maintaining the integration in the ROS2 middleware as native nodes combined in other ROS packages. Isaac GEMs for ROS is a set of GPU-accelerated ROS2 packages, released for the robotics community and part of the NVIDIA Jetson platform Here is the usual ROS2 graph when you start up the nanosaur.įigure 4. įor more information, see the main nanosaur GitHub repository. ros2_jetson_stats is the wrapper of the jetson-stats package to monitoring and controlling your NVIDIA Jetson.nanosaur_camera runs the camera streamer from the MIPI camera to a ROS2 topic.This node is functional when you want to test the eye’s topic. joy2eyes converts a joystick message to an eye’s topic.nanosaur_base enables the motor controller and the displays.Nanosaur has many nodes to drive and show the status of the robot. However, nanosaur’s software is developed directly on ROS2 and is entirely GPU accelerated and Docker based. Nanosaur’s hardware is similar to that of NVIDIA JetBot, using two I2C OLED displays and sharing the same I2C motor driver. nanosaur is a fully 3D-printable, NVIDIA Jetson-based robot ![]() It measures a compact 10x12圆cm and it weighs only 500g.įigure 1. The robot is fully 3D printable, able to wander on your desk autonomously and uses a simple camera and two OLEDs-these act as a pair of eyes. Nanosaur is a simple open-source robot based on NVIDIA Jetson. ROS2 is becoming the new robotics distribution after the official last ROS release (Noetic), and support from the community is growing after the first LTS release. At that point, the community started to lay the foundation of the second generation of ROS, redesigning it for the research community and companies with an eye on security, intra-communication, and reliability. In 2015, the ROS community noticed the production release’s weakness, with lacking single robot support (roscore) security, slow real-time support, and other central issues. Eventually, it gained popularity among the broader developer community, including robotics makers and companies. At first, this framework was primarily used by the robotics research community. The 2012 handover to the new Open Robotics foundation was made to maintain the framework’s development. Willow Garage developed the Robot Operating System (ROS) in 2007. The focus of this post is AprilTags detection using nanosaur, a simple open-source robot based on the NVIDIA Jetson platform.īefore going into detail on this application, here is the history of ROS, NVIDIA Isaac GEMs, and how nanosaur is built. This post investigates how you can accelerate your robot’s deployment by implementing NVIDIA Isaac ROS GEMs. ![]() ![]() These ROS2 packages are built from ROS2 Foxy, the first Long Stable Release (LTS) to come out of the robotics community. NVIDIA Isaac GEMs for ROS provides a set of GPU-accelerated packages for your ROS2 application, improving throughput on image processing and DNN-based perception models.
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