NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages
GitHub – NVIDIA-ISAAC-ROS/isaac_ros_nitros: NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages
“ROS2 Humble introduces new hardware-acceleration features, including type adaptation and type negotiation, that significantly increase performance for developers seeking to incorporate AI/machine learning and computer vision functionality into their ROS-based applications.
Type adaptation (REP-2007) is common for hardware accelerators, which require a different data format to deliver optimal performance. Type adaptation allows ROS nodes to work in a format better suited to the hardware. Processing pipelines can eliminate memory copies between the CPU and the memory accelerator using the adapted type. Unnecessary memory copies consume CPU compute, waste power, and slow down performance, especially as the image size increases.
Type negotiation (REP-2009) allows different ROS nodes in a processing pipeline to advertise their supported types so that formats yielding ideal performance are chosen. The ROS framework performs this negotiation process and maintains compatibility with legacy nodes that don’t support negotiation…”