Isaac ROS Common

Isaac ROS common utilities and scripts for use in conjunction with the Isaac ROS suite of packages.

Docker Scripts

run_dev.sh creates a dev environment with ROS2 installed and key versions of NVIDIA frameworks prepared for both x86_64 and Jetson. By default, the directory /workspaces/isaac_ros-dev in the container is mapped from ~/workspaces/isaac_ros-dev on the host machine if it exists OR the current working directory from where the script was invoked otherwise. The host directory the container maps to can be explicitly set by running the script with the desired path as the first argument:

scripts/run_dev.sh <path to workspace>

For solutions to known issues, please visit the Troubleshooting section below.

System Requirements

This script is designed and tested to be compatible with ROS2 Foxy on Jetson hardware in addition to on x86 systems with an Nvidia GPU.

Jetson

• Jetson AGX Xavier or Xavier NX
• JetPack 4.6.1

x86_64

• Ubuntu 20.04+
• CUDA 11.4 supported discrete GPU
• VPI 1.1.11

You must first install the Nvidia Container Toolkit to make use of the Docker container development/runtime environment.

Configure nvidia-container-runtime as the default runtime for Docker by editing /etc/docker/daemon.json to include the following:

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

and then restarting Docker: sudo systemctl daemon-reload && sudo systemctl restart docker

Note: For best performance on Jetson, ensure that power settings are configured appropriately (Power Management for Jetson).

Troubleshooting

run_dev.sh on x86 fails with vpi-lib-1.1.11-cuda11-x86_64-linux.deb is not a Debian format archive

When building a Docker image, run_dev.sh may fail because some files seem to be invalid. Debian packages for VPI on x86 are packaged in Isaac ROS using git-lfs. These files need to be fetched in order to install VPI in the Docker image.

Symptoms

dpkg-deb: error: 'vpi-lib-1.1.11-cuda11-x86_64-linux.deb' is not a Debian format archive
dpkg: error processing archive vpi-lib-1.1.11-cuda11-x86_64-linux.deb (--install):
 dpkg-deb --control subprocess returned error exit status 2
Errors were encountered while processing:
 vpi-lib-1.1.11-cuda11-x86_64-linux.deb

Solution

Run git lfs pull in each Isaac ROS repository you have checked out, especially isaac_ros_common, to ensure all of the large binary files have been downloaded.

Nodes crashed on initial launch or failed to build, reporting shared libraries have a file format not recognized

Many dependent shared library binary files are stored in git-lfs. These files need to be fetched in order for Isaac ROS nodes to function correctly.

Symptoms

/usr/bin/ld:/workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_common/isaac_ros_nvengine/gxf/lib/gxf_jetpack46/core/libgxf_core.so: file format not recognized; treating as linker script
/usr/bin/ld:/workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_common/isaac_ros_nvengine/gxf/lib/gxf_jetpack46/core/libgxf_core.so:1: syntax error
collect2: error: ld returned 1 exit status
make[2]: *** [libgxe_node.so] Error 1
make[1]: *** [CMakeFiles/gxe_node.dir/all] Error 2
make: *** [all] Error 2

Solution

Run git lfs pull in each Isaac ROS repository you have checked out, especially isaac_ros_common, to ensure all of the large binary files have been downloaded.

Updates