Enabling ROS1 Bridge Extension in NVIDIA Isaac Sim Docker Image

Hello everyone,

I’m currently using the NVIDIA Isaac Sim Docker image to run simulations within a Docker container. I’ve been following the recommended commands to set up the environment, including connecting through the streaming client app for GUI access.

However, I need to enable the ROS1 bridge extension within the Isaac Sim environment, as it doesn’t come enabled by default. I understand that I need to start the simulation using the ./runheadless.native.sh -v script, but I’m unsure how to enable the ROS1 bridge while starting the simulation.

Could someone please provide guidance on how to modify the startup script to enable the ROS1 bridge extension?

Any help would be greatly appreciated.

Thank you!