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Isaac ROS 4.0 (#204)
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‎README.md‎

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NVIDIA-accelerated, simultaneous localization and mapping (SLAM) using stereo
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visual inertial odometry (SVIO).
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/cuvslam_ros_3.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/cuvslam_ros_3.gif/" width="800px"/></a></div>
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/cuvslam_ros_3.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/cuvslam_ros_3.gif/" width="800px"/></a></div>
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compute efficient to provide a real time solution, improving convergence
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in loop closure.
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/vslam_odometry_nav2_diagram.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/main/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/vslam_odometry_nav2_diagram.png/" width="880px"/></a></div>
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<div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/vslam_odometry_nav2_diagram.png/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_visual_slam/vslam_odometry_nav2_diagram.png/" width="880px"/></a></div>
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There are multiple methods for estimating odometry as an input to
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navigation. None of these methods are perfect; each has limitations
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for VSLAM on sequences of over 1000 meters, with coverage for indoor and
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outdoor scenes.
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## Performance
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| Sample Graph<br/><br/> | Input Size<br/><br/> | Nova Carter<br/><br/> |
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|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [Multicam Visual SLAM Live Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/benchmarks/isaac_ros_perceptor_nova_benchmark/scripts/isaac_ros_visual_slam_graph.py)<br/><br/><br/>4 Hawk Cameras<br/><br/> | 1200p<br/><br/><br/><br/> | [30.1 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/main/results/isaac_ros_4_hawk_vslam_graph-carter-v2.4-jp6.json)<br/><br/><br/><br/> |
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> [!Note]
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> This benchmark can only be run on a [Nova Orin](https://developer.nvidia.com/isaac/nova-orin) compatible system.
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---
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## Documentation
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## Latest
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Update 2024-12-10: Add support for multi-cam SLAM mode on stereo RGB cameras
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Update 2025-10-24: Support for ROS 2 Jazzy with cuVSLAM 14

‎SECURITY.md‎

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## Security
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NVIDIA is dedicated to the security and trust of our software products and services, including all source code repositories managed through our organization.
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If you need to report a security issue, please use the appropriate contact points outlined below. **Please do not report security vulnerabilities through GitHub.**
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## Reporting Potential Security Vulnerability in an NVIDIA Product
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To report a potential security vulnerability in any NVIDIA product:
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- Web: [Security Vulnerability Submission Form](https://www.nvidia.com/object/submit-security-vulnerability.html)
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- E-Mail: [email protected]
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- We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
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- Please include the following information:
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- Product/Driver name and version/branch that contains the vulnerability
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- Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
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- Instructions to reproduce the vulnerability
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- Proof-of-concept or exploit code
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- Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
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While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/) policies page for more information.
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## NVIDIA Product Security
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For all security-related concerns, please visit NVIDIA's Product Security portal at https://www.nvidia.com/en-us/security

‎isaac_ros_visual_slam/CMakeLists.txt‎

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execute_process(COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE)
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message( STATUS "Architecture: ${ARCHITECTURE}" )
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find_package(Boost COMPONENTS thread REQUIRED)
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find_package(Boost COMPONENTS thread chrono REQUIRED)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Ensure CUDA imported targets (e.g., CUDA::nvtx3) are available
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find_package(CUDAToolkit REQUIRED)
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# NVTX
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option(USE_NVTX "Enable NVTX markers for improved profiling (if available)" ON)
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if(USE_NVTX)
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add_definitions(-DUSE_NVTX)
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link_directories("${CUDA_TOOLKIT_ROOT_DIR}/lib64")
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link_libraries("CUDA::nvtx3")
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endif()
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# Dependencies
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find_package(Threads REQUIRED)
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find_package(Eigen3 REQUIRED)
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src/impl/visual_slam_impl.cpp
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src/impl/viz_helper.cpp
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)
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target_link_libraries(visual_slam_node cuvslam Boost::thread)
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target_link_libraries(visual_slam_node cuvslam Boost::thread Boost::chrono)
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rclcpp_components_register_nodes(visual_slam_node "nvidia::isaac_ros::visual_slam::VisualSlamNode")
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set(node_plugins "${node_plugins}nvidia::isaac_ros::visual_slam::VisualSlamNode;$<TARGET_FILE:visual_slam_node>\n")
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‎isaac_ros_visual_slam/foxglove_layouts/foxglove_layout_realsense_mask.json‎

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