nvidia container toolkit

prerequisites: nvidia driver
Installing the NVIDIA Container Toolkit — NVIDIA Container Toolkit 1.17.0 documentation

1
2
3
4
curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
1
sudo apt-get update
1
sudo apt-get install -y nvidia-container-toolkit

docker

install docker engine or docker desktop
Docker Docs
https://wncfht.github.io/notes/Technology/ffb6d-docker/

config docker

1
sudo nvidia-ctk runtime configure --runtime=docker
1
sudo systemctl restart docker

restart docker 出现问题可能需要配置 docker 源解决（？）

Getting started

Developer Environment Setup — isaac_ros_docs documentation

1
sudo systemctl daemon-reload && sudo systemctl restart docker
1
2
sudo apt-get install git-lfs
git lfs install --skip-repo
1
2
3
mkdir -p  ~/workspaces/isaac_ros-dev/src
echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
source ~/.bashrc

DOPE

isaac_ros_dope — isaac_ros_docs documentation

1
2
cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common
1
sudo apt-get install -y curl jq tar
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_dope"
NGC_RESOURCE="isaac_ros_dope_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=3
MINOR_VERSION=1
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r "
    .recipeVersions[]
    | .versionId as \$v
    | \$v | select(test(\"^\\\\d+\\\\.\\\\d+\\\\.\\\\d+$\"))
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber}
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION)
    | \$v
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\
versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

download Ketchup.pth

1
2
mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets/models/dope/ && \
   mv ~/Downloads/Ketchup.pth ${ISAAC_ROS_WS}/isaac_ros_assets/models/dope

build isaac_ros_dope

卡在 run_dev 这一步。需要修改各种源 and 代理

应该只需要修改 rosdep 即可解决

1
2
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
1
sudo apt-get install -y ros-humble-isaac-ros-dope