Isaac ROS comm

Quickstart

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.

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"
    ...
}

3. Then, restart Docker:

sudo systemctl daemon-reload && sudo systemctl restart docker

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

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

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

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

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

Note that we are going to use ISAAC_ROS_WS environmental variable in the future to refer to this ROS 2 workspace directory.