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Install the Isaac ROS

Isaac ROS Initial Environment Setup​

ReComputer Requirements​

Hardware Environment:​

  • Jetson Orin/Jetson Xavier

Software Environment:​

1. Install Initial Dependencies​

Follow NVIDIA's official image and Seeed WIki's flashing guide:

sudo apt-get install python3-pip # Install python3
sudo apt-get install nvidia-jetpack # Install developer tools
sudo pip3 install jetson-stats # Install Jtop to check Jetpack version
sudo apt-get install git-lfs # Install git-lfs

2. Install Docker-CE​

Update software sources:

sudo apt-get update

Install basic dependencies:

sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    software-properties-common # Install essential packages to allow apt over HTTPS

Add Docker's official GPG key:

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

Add Docker's stable repository:

sudo add-apt-repository \
   "deb [arch=arm64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"

Update package list again (new repository added):

sudo apt-get update

Install Docker CE (Community Edition):

sudo apt-get install docker-ce

Ensure Docker starts:

sudo systemctl enable docker
sudo systemctl start docker

Add permissions (add user to Docker group):

sudo usermod -aG docker $USER

Reboot system or logout:

sudo reboot

3. Isaac ROS Common Package Configuration​

Create workspace and add to environment:

mkdir -p ~/workspaces/isaac_ros-dev/src
echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
source ~/.bashrc

Enter workspace and clone packages:

cd ${ISAAC_ROS_WS}/src
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git

Pull official Isaac Common Docker image and enter Docker:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh

Initial environment configuration completed.

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