Skip to content

NVIDIA-ISAAC-ROS/isaac_ros_benchmark

Repository files navigation

Isaac ROS Benchmark

Performance benchmarking for NVIDIA-accelerated Isaac ROS packages.

image

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.


Documentation

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


Packages

Latest

Update 2024-09-26: Updated for Isaac ROS 3.1

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