Performance benchmarking for NVIDIA-accelerated Isaac ROS packages.
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.
Please visit the Isaac ROS Documentation to learn how to use this repository.
Update 2026-09-21: Compatibility and integration updates for the Isaac ROS 5.0.0 release
| Node |
Input Size |
AGX Thor T5000 |
AGX Thor T4000 |
AGX Orin |
Orin Nano Super 8GB |
DGX Spark |
x86_64 w/ RTX 5090 |
x86_64 w/ RTX 5070 |
|---|---|---|---|---|---|---|---|---|
| AprilTag Node |
720p |
326 fps 3.2 ms @ 30Hz |
248 fps 4.3 ms @ 30Hz |
189 fps 5.3 ms @ 30Hz |
104 fps 9.6 ms @ 30Hz |
555 fps 1.5 ms @ 30Hz |
596 fps 1.0 ms @ 30Hz |
591 fps 1.4 ms @ 30Hz |
| FoundationPose Pose Estimation Node |
720p |
2.42 fps |
1.82 fps |
0.746 fps |
– |
1.67 fps |
5.16 fps |
3.32 fps |
| Stereo Disparity Node |
1080p |
171 fps 5.9 ms @ 30Hz |
141 fps 8.4 ms @ 30Hz |
124 fps 8.6 ms @ 30Hz |
66.1 fps 17 ms @ 30Hz |
156 fps 4.9 ms @ 30Hz |
512 fps 2.1 ms @ 30Hz |
415 fps 2.5 ms @ 30Hz |
| Rectify Node |
1080p |
1150 fps 0.27 ms @ 30Hz |
683 fps 0.27 ms @ 30Hz |
1220 fps 0.28 ms @ 30Hz |
470 fps 0.58 ms @ 30Hz |
2030 fps 0.24 ms @ 30Hz |
7500 fps 0.12 ms @ 30Hz |
5680 fps 0.13 ms @ 30Hz |
| TensorRT Node DOPE |
VGA |
193 fps 1.4 ms @ 30Hz |
128 fps 1.3 ms @ 30Hz |
47.4 fps 1.9 ms @ 30Hz |
20.8 fps |
108 fps 1.2 ms @ 30Hz |
350 fps 0.53 ms @ 30Hz |
161 fps 0.48 ms @ 30Hz |
| Triton Node DOPE |
VGA |
174 fps 6.2 ms @ 30Hz |
116 fps 10 ms @ 30Hz |
45.2 fps 22 ms @ 30Hz |
20.2 fps |
98.1 fps 8.6 ms @ 30Hz |
350 fps 2.9 ms @ 30Hz |
156 fps 6.4 ms @ 30Hz |
| TensorRT Node PeopleSemSegNet |
544p |
792 fps 1.2 ms @ 30Hz |
524 fps 1.4 ms @ 30Hz |
481 fps 1.5 ms @ 30Hz |
234 fps 1.8 ms @ 30Hz |
1030 fps 0.87 ms @ 30Hz |
3000 fps 0.46 ms @ 30Hz |
2320 fps 0.52 ms @ 30Hz |
| Triton Node PeopleSemSegNet |
544p |
195 fps 6.3 ms @ 30Hz |
191 fps 6.7 ms @ 30Hz |
189 fps 5.5 ms @ 30Hz |
122 fps 8.4 ms @ 30Hz |
173 fps 5.7 ms @ 30Hz |
2440 fps 0.53 ms @ 30Hz |
1630 fps 0.74 ms @ 30Hz |
| DNN Image Encoder Node |
1200p |
767 fps 2.5 ms @ 30Hz |
418 fps 4.6 ms @ 30Hz |
423 fps 4.5 ms @ 30Hz |
475 fps 4.5 ms @ 30Hz |
1130 fps 1.9 ms @ 30Hz |
2870 fps 0.91 ms @ 30Hz |
449 fps 2.5 ms @ 30Hz |
| Occupancy Grid Localizer Node |
~50 sq. m |
1.46 fps |
1.42 fps |
1.16 fps |
1.05 fps |
2.39 fps |
2.64 fps |
2.42 fps |
| H.264 Decoder Node |
1200p |
500 fps 2.4 ms @ 30Hz |
513 fps 1.9 ms @ 30Hz |
262 fps 6.6 ms @ 30Hz |
162 fps 9.7 ms @ 30Hz |
313 fps 1.4 ms @ 30Hz |
1050 fps 0.86 ms @ 30Hz |
839 fps 1.1 ms @ 30Hz |
| H.264 Encoder Node I-frame Support |
1080p |
766 fps 2.2 ms @ 30Hz |
777 fps 2.2 ms @ 30Hz |
399 fps 15 ms @ 30Hz |
– |
955 fps 1.6 ms @ 30Hz |
1110 fps 1.7 ms @ 30Hz |
1120 fps 1.9 ms @ 30Hz |
| H.264 Encoder Node P-frame Support |
1080p |
779 fps 2.5 ms @ 30Hz |
492 fps 2.2 ms @ 30Hz |
463 fps 11 ms @ 30Hz |
– |
927 fps 1.4 ms @ 30Hz |
1150 fps 2.0 ms @ 30Hz |
1150 fps 2.0 ms @ 30Hz |
| Graph |
Input Size |
AGX Thor T5000 |
AGX Thor T4000 |
AGX Orin |
Orin Nano Super 8GB |
DGX Spark |
x86_64 w/ RTX 5090 |
x86_64 w/ RTX 5070 |
|---|---|---|---|---|---|---|---|---|
| AprilTag Graph |
720p |
306 fps 3.6 ms @ 30Hz |
236 fps 5.0 ms @ 30Hz |
186 fps 6.5 ms @ 30Hz |
100 fps 12 ms @ 30Hz |
539 fps 2.3 ms @ 30Hz |
596 fps 1.7 ms @ 30Hz |
596 fps 2.3 ms @ 30Hz |
| Centerpose Pose Estimation Graph |
VGA |
50.2 fps 1.8 ms @ 30Hz |
50.2 fps 1.9 ms @ 30Hz |
50.2 fps 1.4 ms @ 30Hz |
35.0 fps 1.8 ms @ 30Hz |
50.2 fps 0.58 ms @ 30Hz |
50.2 fps 0.21 ms @ 30Hz |
50.2 fps 0.25 ms @ 30Hz |
| DNN Stereo Disparity Graph Full |
576p |
99.8 fps 12 ms @ 30Hz |
77.1 fps 16 ms @ 30Hz |
66.5 fps 17 ms @ 30Hz |
34.8 fps 30 ms @ 30Hz |
102 fps 10 ms @ 30Hz |
350 fps 3.2 ms @ 30Hz |
233 fps 4.7 ms @ 30Hz |
| DNN Stereo Disparity Graph Light |
288p |
203 fps 6.7 ms @ 30Hz |
161 fps 8.3 ms @ 30Hz |
75.5 fps 24 ms @ 30Hz |
82.2 fps 13 ms @ 30Hz |
192 fps 5.4 ms @ 30Hz |
350 fps 2.5 ms @ 30Hz |
350 fps 3.0 ms @ 30Hz |
| Stereo Disparity Graph |
1080p |
159 fps 6.2 ms @ 30Hz |
129 fps 9.2 ms @ 30Hz |
117 fps 9.3 ms @ 30Hz |
61.5 fps 19 ms @ 30Hz |
143 fps 5.3 ms @ 30Hz |
450 fps 2.2 ms @ 30Hz |
380 fps 2.6 ms @ 30Hz |
| DetectNet Object Detection Graph |
544p |
216 fps 7.7 ms @ 30Hz |
157 fps 8.4 ms @ 30Hz |
73.5 fps 15 ms @ 30Hz |
30.4 fps 37 ms @ 30Hz |
120 fps 8.9 ms @ 30Hz |
291 fps 4.7 ms @ 30Hz |
166 fps 7.1 ms @ 30Hz |
| Grounding DINO Object Detection Graph |
544p |
25.3 fps |
17.5 fps |
13.6 fps |
– |
17.3 fps |
156 fps 8.0 ms @ 30Hz |
65.6 fps 17 ms @ 30Hz |
| RT-DETR Object Detection Graph SyntheticaDETR |
720p |
195 fps 6.7 ms @ 30Hz |
177 fps 8.3 ms @ 30Hz |
87.3 fps 13 ms @ 30Hz |
40.0 fps 27 ms @ 30Hz |
181 fps 6.8 ms @ 30Hz |
718 fps 2.3 ms @ 30Hz |
374 fps 3.6 ms @ 30Hz |
| TensorRT Graph PeopleSemSegNet |
544p |
478 fps 3.8 ms @ 30Hz |
352 fps 4.4 ms @ 30Hz |
315 fps 4.7 ms @ 30Hz |
156 fps 8.0 ms @ 30Hz |
298 fps 2.9 ms @ 30Hz |
1160 fps 1.1 ms @ 30Hz |
935 fps 1.6 ms @ 30Hz |
| SAM Image Segmentation Graph Full SAM |
720p |
5.14 fps |
2.22 fps |
2.22 fps |
– |
2.22 fps |
25.0 fps |
8.40 fps |
| SAM Image Segmentation Graph Mobile SAM |
720p |
20.8 fps |
14.6 fps |
8.40 fps |
4.80 fps |
14.6 fps |
109 fps 10 ms @ 30Hz |
57.9 fps 18 ms @ 30Hz |