NVIDIA Isaac ROS

[mxochicale]

Resources

• https://github.com/NVIDIA-ISAAC-ROS
• https://developer.nvidia.com/isaac/ros
• https://nvidia-isaac-ros.github.io/index.html
• https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation?tab=readme-ov-file
• https://nvidia-isaac-ros.github.io/releases/index.html
• https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag

[mxochicale]

Trying some steps

## Getting Started following https://nvidia-isaac-ros.github.io/getting_started/index.html


#Create a Workspace
mkdir -p  ~/workspaces/isaac_ros-dev/src
echo 'export ISAAC_ROS_WS="${ISAAC_ROS_WS:-${HOME}/workspaces/isaac_ros-dev/}"' >> ~/.bashrc
source ~/.bashrc

#Install the dependencies:
sudo apt update && sudo apt install curl gnupg
sudo apt install software-properties-common
sudo add-apt-repository universe

#x86 (Ubuntu 24.04 Noble)
k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
curl -fsSL https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo gpg --dearmor | sudo tee -a $k > /dev/null
f="/etc/apt/sources.list.d/nvidia-isaac-ros.list"
sudo touch $f
s="deb [signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/release-4.1 noble main"
grep -qxF "$s" $f || echo "$s" | sudo tee -a $f
sudo apt-get update

#Initialize Isaac ROS CLI
sudo apt-get install -y isaac-ros-cli

#Configure the environment isolation mode
sudo isaac-ros init venv

#Activate the Isaac ROS environment:
isaac-ros activate


#https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/tree/main
cd ${ISAAC_ROS_WS}/src && git clone -b release-4.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common
#sudo apt-get install python3-onnxscript-pip-shim -y
rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_common/isaac_ros_test/ --ignore-src -y


#https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html#quickstart
cd ${ISAAC_ROS_WS}/src && git clone -b release-4.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros.git isaac_ros_nitros
rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_nitros/isaac_ros_nitros_bridge/isaac_ros_nitros_bridge_ros2 --ignore-src -y


#https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html
cd ${ISAAC_ROS_WS}/src && git clone -b release-4.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation.git isaac_ros_image_segmentation



cd ${ISAAC_ROS_WS}/src && git clone -b release-4.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag.git isaac_ros_apriltag
cd ${ISAAC_ROS_WS}/src && git clone -b release-4.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline.git isaac_ros_image_pipeline



rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_image_pipeline/isaac_ros_stereo_image_proc --ignore-src -y
# isaac_ros_stereo_image_proc: Cannot locate rosdep definition for [gxf_isaac_messages]

rosdep update && rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_image_pipeline/isaac_ros_image_proc --ignore-src -y
rosdep install --from-paths ${ISAAC_ROS_WS}/src/isaac_ros_apriltag/isaac_ros_apriltag --ignore-src -y