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🐋🐋 Multi architecture Isaac ROS for NVIDIA Jetson and x86 - CI based

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Isaac ROS Base - Multi architecture & CI based

Docker Pulls GitHub

Multi architecture cross compilable Isaac ROS for x86 and NVIDIA Jetson with Jetpack 5+

Requirements

To build these NVIDIA Docker you can choose one of these options:

  1. Desktop
    • NVIDIA Graphic card
  2. NVIDIA Jetson
    • Xavier or Orin series
    • NVIDIA Jetpack 5+

Images available

All images are based with:

Software Version JP=5.0.2 Version JP=5.1
Ubuntu 20.04 20.04
L4T 35.1 35.2
CUDA 11.4 11.4
OpenCV 4.5.0 with CUDA 4.5.0 with CUDA
TensorRT 8.4 8.4
Triton 2.24.0 2.30.0

Images:

Name AMD64 ARM64 Note Build Time
rbonghi/isaac_ros_base:humble-core-devel Docker Image Size (tag) Docker Image Size (tag) Minimal packages ros-core and all main package for vision compiled with CUDA 16000s (L4T 35.1)
15000s (L4T 35.2)
rbonghi/isaac_ros_base:humble-base-devel Docker Image Size (tag) Docker Image Size (tag) 16000s (L4T 35.1)
16000s (L4T 35.2)
rbonghi/isaac_ros_base:gems-devel Docker Image Size (tag) Docker Image Size (tag) Isaac ROS argus camera is available only on ARM64 platform
rbonghi/isaac_ros_base:isaac-runtime Soon Soon

Work with Isaac ROS base

Example to build Isaac ROS packages multi-platform

cd example
docker build -t isaac-ros-base/packages:latest -f Dockerfile.isaac .

Build

There are two ways to use this repository, build locally the isaac_ros_base images or use in CI, but you need to install a local runner on your desktop with NVIDIA graphic card.

Setup Docker runtime on Jetson

To enable access to the CUDA compiler (nvcc) during docker build operations, add "default-runtime": "nvidia" to your /etc/docker/daemon.json configuration file before attempting to build the containers:

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

You will then want to restart the Docker service or reboot your system before proceeding.

sudo systemctl restart docker.service

Add your user on your docker group

sudo usermod -aG docker $USER

Logout and login on your session.

Build locally

If you want to run locally use and follow the help:

Warning: You can use this script only on:

  • x86 machines with NVIDIA graphic card
  • NVIDIA Jetson Orin or Xavier series
./docker_build_ros.sh

isaac_ros_runner

Follow README in isaac_ros_runner folder

Multistage images

Name AMD64 ARM64 Build Time
rbonghi/isaac_ros_base:opencv-4.5.0 Docker Image Size (tag) Docker Image Size (tag)
rbonghi/isaac_ros_base:devel Docker Image Size (tag) Docker Image Size (tag) 2000s (L4T 35.1)
2500s (L4T 35.2)
rbonghi/isaac_ros_base:runtime Soon Soon

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