Error building Isaac ROS Nitros BridgeNoetic Container with ROS 1 Bridge

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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1

I’m running Ubuntu 22.04 on my host with ROS 2 Humble, and I have an Intel RealSense D455 publishing image and IMU topics.

My goal is to send these topics into a Docker container running Ubuntu 20.04 + ROS Noetic, where I plan to run a SLAM framework that only supports ROS 1.

To achieve this, I’m trying to use the Isaac ROS Nitros Bridge, following this official guide:

However, I’ve faced the following issues:

  • Docker build fails due to missing packages like libxtensor-dev or ros-humble-ros-base when building from Ubuntu 20.04.
  • rosdep throws errors for urdfdom_headers not being defined for focal.
  • There is a conflict in instaling Humble (ROS 2) in Docker container.

Main Question:
What is the recommended way to pass D455 topics (images/IMU) from ROS 2 Humble (host) into a ROS 1 Noetic container, ideally minimizing latency?

Should I:

  • Install everything manually from source in a clean ROS Noetic container?
2

Hi @maikelborys

Yes, quick reply

You need to rebuild all ROS Humble packages on the Noetic container to share the RealSense messages.

Unfortunately, the packages for ROS Humble on 20.04 are not available anymore.

(please take look at the notice on the top of the page)

Best,
Raffaello