nvidia_ros2_humble

Note: Before you begin, verify that you have sufficient storage space available on your device. We recommend at least 30 GB, to account for the size of the container and datasets.

On Jetson platforms, an NVMe SSD storage is required to have sufficient and fast storage.

1. On x86_64 platforms: Install the nvidia-container-runtime using the instructions here. On Jetson platforms: Follow this instruction to first set your Jetson up with SSD, then come back to this document and resume from Step 3.

nvidia-container-runtime installation

Ubuntu distributions

1. Install the repository for your distribution by following the instructions here.

2. Install the nvidia-container-runtime package:

sudo apt-get install nvidia-container-runtime

Docker Engine setup

To register the nvidia runtime, use the method below that is best suited to your environment. You might need to merge the new argument with your existing configuration.

Systemd drop-in file

sudo mkdir -p /etc/systemd/system/docker.service.d
sudo tee /etc/systemd/system/docker.service.d/override.conf <<EOF
[Service]
ExecStart=
ExecStart=/usr/bin/dockerd --host=fd:// --add-runtime=nvidia=/usr/bin/nvidia-container-runtime
EOF
sudo systemctl daemon-reload
sudo systemctl restart docker

Daemon configuration file

sudo tee /etc/docker/daemon.json <<EOF
{
    "runtimes": {
        "nvidia": {
            "path": "/usr/bin/nvidia-container-runtime",
            "runtimeArgs": []
        }
    }
}
EOF
sudo pkill -SIGHUP dockerd

You can optionally reconfigure the default runtime by adding the following to /etc/docker/daemon.json:

"default-runtime": "nvidia"

2. Configure nvidia-container-runtime as the default runtime for Docker.

Using your text editor of choice, add the following items to /etc/docker/daemon.json.

{
    ...
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    },
    "default-runtime": "nvidia"
    ...
}

4. Then, restart Docker:

sudo systemctl daemon-reload && sudo systemctl restart docker

5. Install Git LFS in order to pull down all large files:

sudo apt-get install git-lfs
git lfs install --skip-repo

6. Finally, create a ROS 2 workspace for experimenting with Isaac ROS:

For Jetson setup with SSD as optional storage:

mkdir -p  /ssd/workspaces/isaac_ros-dev/src
echo "export ISAAC_ROS_WS=/ssd/workspaces/isaac_ros-dev/" >> ~/.bashrc
source ~/.bashrc

mkdir -p  ~/workspaces/isaac_ros-dev/src
echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
source ~/.bashrc

7. go to folder

   workspaces/isaac_ros-dev/ros_ws/src

and run

git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git

8. create folder for docker

mkdir -p workspaces/isaac_ros-dev/ros_ws/docker

9. under /isaac_ros-dev/ros_ws/isaac_ros_common folder, run

scripts/run_dev.sh workspaces/isaac_ros-dev/ros_ws/docker