Isaac ROS Benchmark

Performance benchmarking for NVIDIA-accelerated Isaac ROS packages.

Overview

Isaac ROS Benchmark builds upon the ros2_benchmark to provide configurations to benchmark Isaac ROS graphs. Performance results that measure Isaac ROS for throughput, latency, and utilization enable robotics developers to make informed decisions when designing real-time robotics applications. The Isaac ROS performance results can be independently verified, as the method, configuration, and data input used for benchmarking are provided.

The ros2_benchmark playback node plug-in, for type adaptation and negotiation, is provided for NITROS, which optimizes the performance of message transport costs through RCL with GPU accelerated graphs of nodes.

The datasets for benchmarking are explicitly not downloaded by default. To pull down the standardized benchmark datasets, refer to the ros2_benchmark Dataset section.

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Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

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Packages

• isaac_ros_benchmark
  • Quickstart
  • Troubleshooting

Latest

Update 2024-05-30: Restructure benchmark scripts into packages

Performance

Node	Input Size	AGX Orin	Orin NX	Orin Nano 8GB	x86_64 w/ RTX 4060 Ti	x86_64 w/ RTX 4090
AprilTag Node	720p	244 fps 7.3 ms @ 30Hz	114 fps 12 ms @ 30Hz	79.2 fps 18 ms @ 30Hz	596 fps 2.4 ms @ 30Hz	596 fps 2.1 ms @ 30Hz
Freespace Segmentation Node	576p	2190 fps 1.4 ms @ 30Hz	1850 fps 1.8 ms @ 30Hz	1220 fps 2.6 ms @ 30Hz	3500 fps 0.50 ms @ 30Hz	3500 fps 0.48 ms @ 30Hz
Depth Segmentation Node	576p	45.9 fps 76 ms @ 30Hz	28.8 fps 92 ms @ 30Hz	–	87.9 fps 35 ms @ 30Hz	104 fps 35 ms @ 30Hz
FoundationPose Pose Estimation Node	720p	1.72 fps 690 ms @ 30Hz	–	–	–	7.02 fps 170 ms @ 30Hz
DNN Stereo Disparity Node Full	576p	96.5 fps 13 ms @ 30Hz	41.2 fps 27 ms @ 30Hz	–	224 fps 5.5 ms @ 30Hz	350 fps 2.4 ms @ 30Hz
DNN Stereo Disparity Node Light	288p	276 fps 5.9 ms @ 30Hz	134 fps 10 ms @ 30Hz	–	350 fps 2.4 ms @ 30Hz	350 fps 1.7 ms @ 30Hz
Stereo Disparity Node	1080p	168 fps 7.5 ms @ 30Hz	75.4 fps 15 ms @ 30Hz	51.5 fps 22 ms @ 30Hz	350 fps 3.4 ms @ 30Hz	814 fps 1.8 ms @ 30Hz
Rectify Node	1080p	983 fps 2.5 ms @ 30Hz	569 fps 3.5 ms @ 30Hz	394 fps 5.2 ms @ 30Hz	2500 fps 0.88 ms @ 30Hz	2500 fps 0.66 ms @ 30Hz
TensorRT Node DOPE	VGA	48.1 fps 24 ms @ 30Hz	17.9 fps 56 ms @ 30Hz	13.1 fps 82 ms @ 30Hz	98.3 fps 13 ms @ 30Hz	296 fps 5.1 ms @ 30Hz
Triton Node DOPE	VGA	47.2 fps 23 ms @ 30Hz	20.4 fps 540 ms @ 30Hz	14.4 fps 790 ms @ 30Hz	94.2 fps 12 ms @ 30Hz	254 fps 4.6 ms @ 30Hz
TensorRT Node PeopleSemSegNet	544p	460 fps 4.1 ms @ 30Hz	348 fps 6.1 ms @ 30Hz	238 fps 7.0 ms @ 30Hz	685 fps 2.9 ms @ 30Hz	675 fps 3.0 ms @ 30Hz
Triton Node PeopleSemSegNet	544p	304 fps 4.8 ms @ 30Hz	206 fps 6.5 ms @ 30Hz	–	677 fps 2.2 ms @ 30Hz	619 fps 1.9 ms @ 30Hz
DNN Image Encoder Node	VGA	522 fps 12 ms @ 30Hz	330 fps 12 ms @ 30Hz	–	811 fps 6.6 ms @ 30Hz	822 fps 6.4 ms @ 30Hz
Occupancy Grid Localizer Node	~50 sq. m	19.5 fps 57 ms @ 30Hz	8.34 fps 130 ms @ 30Hz	5.75 fps 190 ms @ 30Hz	50.1 fps 21 ms @ 30Hz	50.1 fps 12 ms @ 30Hz
H.264 Decoder Node	1080p	198 fps 8.1 ms @ 30Hz	–	–	596 fps 3.8 ms @ 30Hz	596 fps 4.3 ms @ 30Hz
H.264 Encoder Node I-frame Support	1080p	406 fps 12 ms @ 30Hz	–	–	425 fps 3.3 ms @ 30Hz	409 fps 3.2 ms @ 30Hz
H.264 Encoder Node P-frame Support	1080p	473 fps 9.1 ms @ 30Hz	–	–	596 fps 2.3 ms @ 30Hz	596 fps 2.1 ms @ 30Hz
Nvblox Node	–	4.90 fps 77.1 ms	4.97 fps 151 ms	4.92 fps 91.2 ms	4.97 fps 85.3 ms	4.94 fps 64.2 ms

Graph	Input Size	AGX Orin	Orin NX	Orin Nano 8GB	x86_64 w/ RTX 4060 Ti	x86_64 w/ RTX 4090
AprilTag Graph	720p	241 fps 9.5 ms @ 30Hz	109 fps 15 ms @ 30Hz	74.3 fps 21 ms @ 30Hz	596 fps 3.4 ms @ 30Hz	596 fps 2.9 ms @ 30Hz
Freespace Segmentation Graph	576p	42.1 fps 77 ms @ 30Hz	27.4 fps 99 ms @ 30Hz	21.4 fps 100 ms @ 30Hz	88.6 fps 32 ms @ 30Hz	105 fps 38 ms @ 30Hz
Centerpose Pose Estimation Graph	VGA	36.3 fps 4.8 ms @ 30Hz	19.7 fps 4.9 ms @ 30Hz	13.8 fps 7.4 ms @ 30Hz	50.2 fps 23 ms @ 30Hz	50.2 fps 20 ms @ 30Hz
DOPE Pose Estimation Graph	VGA	41.3 fps 42 ms @ 30Hz	17.5 fps 76 ms @ 30Hz	–	85.2 fps 24 ms @ 30Hz	199 fps 14 ms @ 30Hz
DNN Stereo Disparity Graph Full	576p	89.4 fps 5.4 ms @ 30Hz	36.8 fps 36 ms @ 30Hz	–	215 fps 3.7 ms @ 30Hz	350 fps 5.7 ms @ 30Hz
DNN Stereo Disparity Graph Light	288p	247 fps 5.9 ms @ 30Hz	122 fps 8.5 ms @ 30Hz	–	350 fps 6.1 ms @ 30Hz	350 fps 5.6 ms @ 30Hz
Stereo Disparity Graph	1080p	157 fps 12 ms @ 30Hz	72.2 fps 20 ms @ 30Hz	49.6 fps 28 ms @ 30Hz	349 fps 2.5 ms @ 30Hz	791 fps 2.7 ms @ 30Hz
DetectNet Object Detection Graph	544p	165 fps 20 ms @ 30Hz	115 fps 26 ms @ 30Hz	63.2 fps 36 ms @ 30Hz	488 fps 10 ms @ 30Hz	589 fps 10 ms @ 30Hz
RT-DETR Object Detection Graph SyntheticaDETR	720p	71.9 fps 24 ms @ 30Hz	30.8 fps 41 ms @ 30Hz	21.3 fps 61 ms @ 30Hz	205 fps 8.7 ms @ 30Hz	400 fps 6.3 ms @ 30Hz
TensorRT Graph PeopleSemSegNet	544p	371 fps 19 ms @ 30Hz	250 fps 20 ms @ 30Hz	163 fps 23 ms @ 30Hz	670 fps 11 ms @ 30Hz	688 fps 9.3 ms @ 30Hz
SAM Image Segmentation Graph Full SAM	720p	2.22 fps 470 ms @ 30Hz	–	–	–	14.6 fps 79 ms @ 30Hz
SAM Image Segmentation Graph Mobile SAM	720p	10.8 fps 880 ms @ 30Hz	5.13 fps 1500 ms @ 30Hz	2.22 fps 360 ms @ 30Hz	27.0 fps 62 ms @ 30Hz	60.3 fps 27 ms @ 30Hz

Live Graph	Input Size	Nova Carter
Data Recorder Live Graph 4 Hawk Cameras	1200p	30.3 fps (per stream avg) 0 dropped frames (avg)
Multicam Visual SLAM Live Graph 4 Hawk Cameras	1200p	30.0 fps
DNN Stereo Disparity Live Graph 3 Hawk Cameras 1x Full ESS and 2x Throttled Light ESS	1200p	Full: 30.2 fps Light: 15.2 fps (avg)
Perceptor Graph 3 Hawk Cameras	1200p	Nvblox ESDF: 9.46 fps Nvblox Mesh: 9.77 fps Visual Odometry: 30.1 fps