I have an issue where I keep having to upgrade my Dev container with almost 5GB of updates every time I launch run_dev.sh. I am using a custom Dockerfile to build on top of the base image, and the last command is supposed to update and then upgrade my packages to the newest versions, as you can see below.
Dockerfile.oakd ----->
ARG BASE_IMAGE
FROM ${BASE_IMAGE}
#Install extra ROS packages for Isaac Perceptor
RUN apt-get update && \
apt-get install -y ros-humble-isaac-ros-visual-slam && \
apt-get install -y ros-humble-isaac-ros-nvblox && \
rosdep update && \
rosdep install isaac_ros_nvblox
#Install depthai ros package for the OAK-D ROS driver
RUN wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash
RUN python3 -m pip install depthai
RUN apt install -y ros-humble-depthai-ros
RUN apt update && apt install -y libopencv-dev
RUN apt install -y \
ros-humble-sensor-msgs \
ros-humble-std-msgs \
ros-humble-geometry-msgs \
ros-humble-nav-msgs \
ros-humble-cv-bridge
RUN apt update && apt-get upgrade -y
After running run_dev.sh, I can verify that these commands are in fact being run, and update and also upgrade seem to run correctly. But every time after the build finishes, and I am inside the container cli, apt still tells me that 5GB of updates are missing.
Hit:7 Index of /mosquitto-dev/mosquitto-ppa/ubuntu jammy InReleasehttps://isaac.download.nvidia.com/isaac-ros/release-3 jammy InReleasehttps://deb.nodesource.com/node_18.x nodistro InReleasehttp://packages.ros.org/ros2/ubuntu jammy InReleaseIndex of /ubuntu jammy-security InRelease [129 kB]https://repo.download.nvidia.com/jetson/x86_64/jammy r36.4 InReleasehttps://dl.yarnpkg.com/debian/dists/stable/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.https://isaac.download.nvidia.com/isaac-ros/release-3/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.http://repo.download.nvidia.com/jetson/x86_64/jammy/dists/r36.4/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
This is very annoying, I would like all packages to be up to date after building, and the state of the image to be cached, since installing these upgrades every time is time-consuming.
Hi @hjgrant1
Thank you for your post. I forwarded this message to the engineering team, and I’ll let you know.
Best,
hemals
June 27, 2025, 6:14pm
3
This may be because we are using a transient apt cache (see here
If I remove my ‘oakd’ layer, then I still have the same issue. Here you can see that the ‘oakd’ layer is not being used during the build, but I still have 5GB of pending updates.
./src/isaac_ros_common/scripts/run_dev.shnvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_23aced29fb80f407b727eec37775e30e exists on remote registrynvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_23aced29fb80f407b727eec37775e30e nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_23aced29fb80f407b727eec37775e30e nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_23aced29fb80f407b727eec37775e30e nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_23aced29fb80f407b727eec37775e30e nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_23aced29fb80f407b727eec37775e30e as isaac_ros_dev-x86_64
Stopping hotplug events dispatcher systemd-udevd [ OK ]
Starting hotplug events dispatcher systemd-udevd [ OK ]
admin@itr-Blade-15-Advanced-Model-Mid-2021-RZ09-0409:/workspaces/oakd_isaac_ros$ sudo apt updateIndex of /ubuntu jammy-security InRelease [129 kB]https://isaac.download.nvidia.com/isaac-ros/release-3 jammy InRelease [12.7 kB]Index of /compute/cuda/repos/ubuntu2204/x86_64 InRelease [1,581 B]https://repo.download.nvidia.com/jetson/x86_64/jammy r36.4 InReleasehttps://dl.yarnpkg.com/debian stable InReleasehttps://deb.nodesource.com/node_18.x nodistro InRelease [12.1 kB]Index of /mosquitto-dev/mosquitto-ppa/ubuntu jammy InReleaseIndex of /ubuntu jammy InReleaseIndex of /compute/cuda/repos/ubuntu2204/x86_64 Packages [1,801 kB]Index of /ubuntu jammy-updates InRelease [128 kB]https://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packageshttps://isaac.download.nvidia.com/isaac-ros/release-3 jammy/release-3.0 amd64 Packages [33.3 kB]https://deb.nodesource.com/node_18.x nodistro/main amd64 Packages [11.4 kB]http://packages.ros.org/ros2/ubuntu jammy InRelease [4,682 B]Index of /ubuntu jammy-security/universe amd64 Packages [1,254 kB]Index of /ubuntu jammy-security/main amd64 Packages [3,040 kB]http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages [1,674 kB]Index of /ubuntu jammy-security/restricted amd64 Packages [4,587 kB]Index of /ubuntu jammy-backports InRelease [127 kB]Index of /ubuntu jammy-updates/main amd64 Packages [3,350 kB]Index of /ubuntu jammy-updates/universe amd64 Packages [1,561 kB]Index of /ubuntu jammy-updates/restricted amd64 Packages [4,741 kB]https://isaac.download.nvidia.com/isaac-ros/release-3/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.http://repo.download.nvidia.com/jetson/x86_64/jammy/dists/r36.4/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.https://dl.yarnpkg.com/debian/dists/stable/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
I am still having issues with this, does someone have a solution?
I tried removing my Dockerfile.oakd layer but it still says that 500+ packages can be upgraded, many of them are ros-humble packages.
I assume that the base image from the nvcr.io/nvidia/isaac/ros
As a workaround I am upgrading my container and then committing it to a new image, then I create a new container from this image.
This means I cannot really use the run_dev.sh script. But I would like to use this script.
I removed the sudo apt upgrade -y command from my Dockerfile.oakd layer.
I also saw here that the base image was updated 1 month ago, so I assume the packages should be up-to-date:
sudo apt upgrade