ROS2 Deployment#
COMPASS ships ROS2 nodes that consume a TensorRT engine and emit velocity commands. The same nodes cover three integration paths:
Isaac Sim — driving a simulated robot end-to-end via the ROS2 bridge. The detailed setup is on the Isaac Sim setup sub-page.
Sim2Real — deploying the same
compass_inferencenode directly on a real robot, optionally pairing with visual SLAM (e.g. cuVSLAM) for state estimation.Object navigation — wiring an object-localization module (e.g. Locate3D) into the bundled
obj_target_generatornode so the robot can approach named objects.
The packages live under
ros2_deployment/.
Provided ROS2 nodes#
compass_inference— consumes camera images, target poses, and robot speed inputs, then outputs velocity commands by running TensorRT inference with COMPASS engines.obj_target_generator— receives object localization bounding boxes and generates navigation target poses for the COMPASS navigator.
These nodes enable a variety of integration workflows; the three below are the bundled examples.
1. Isaac Sim integration#
The compass_navigator
package is fully compatible with NVIDIA Isaac Sim,
leveraging its robotics environments and ROS2 bridge for seamless simulation.
For detailed setup instructions and a step-by-step Isaac Sim integration guide, see the Isaac Sim setup sub-page.
2. Zero-shot sim2real transfer#
The compass_inference node can also be deployed directly on real robots,
enabling a seamless transition from simulation to real-world operation. By
integrating visual SLAM solutions such as
cuVSLAM
for robot state estimation, the COMPASS model can support zero-shot sim2real
transfer.