I’m trying to set up the RealSense environment while following the official manual, but I encountered an error while setting up the ROS environment.
When I run
isaac-ros activate --build-local
, I got the following messages
/home/botamochi/workspaces/isaac_ros-dev
Logged in to nvcr.io/nvidia/isaac/ros. Using this for cache.
['isaac_ros', 'realsense']
Dockerfile created: image_key = isaac_ros
Dockerfile created: image_key = realsense
Error response from daemon: failed to resolve reference "nvcr.io/nvidia/isaac/ros:isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64": nvcr.io/nvidia/isaac/ros:isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64: not found
{'target_image_name_': 'nvcr.io/nvidia/isaac/ros:isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64', 'image_key_order_': ['isaac_ros', 'noble', 'ros2_jazzy', 'realsense', 'gr00t_workflow', 'ur_manipulation', 'franka_manipulation', 'mega_manipulation', 'nova_carter'], 'docker_search_dirs_': ['/etc/isaac-ros-cli/docker'], 'cache_to_registry_names_': [], 'cache_from_registry_names_': ['nvcr.io/nvidia/isaac/ros', ''], 'remote_builder_': None, 'build_args_': {'ISAAC_DEBIAN_KEY_URL': 'https://isaac.download.nvidia.com/isaac-ros/repos.key', 'ISAAC_DEBIAN_REPOSITORY': 'https://isaac.download.nvidia.com/isaac-ros/release-4', 'ISAAC_DEBIAN_COMPONENTS': 'main', 'ISAAC_DEBIAN_DIST': 'noble'}, 'verbose_': False, 'platform_': 'x86_64', 'base_image_': None, 'context_dir_': None, 'common_config_file_': '/etc/isaac-ros-cli/.isaac_ros_common-config', 'context_overrides_': {'isaac_ros': '..', 'noble': '..'}, 's3_cache_': None}
Image key = isaac_ros.realsense
Dockerfile created: image_key = isaac_ros
Dockerfile created: image_key = realsense
Dockerfile: /etc/isaac-ros-cli/docker/Dockerfile.isaac_ros@27b165baad063fef62998c364001a2d9
Dockerfile: /etc/isaac-ros-cli/docker/Dockerfile.realsense@7da9674d8fcff690286b3da0e833d78e
Logged in to nvcr.io/nvidia/isaac/ros. Using this for cache.
cache_from_registry_name: nvcr.io/nvidia/isaac/ros
variable "ISAAC_DEBIAN_KEY_URL" {
default = "https://isaac.download.nvidia.com/isaac-ros/repos.key"
}
variable "ISAAC_DEBIAN_REPOSITORY" {
default = "https://isaac.download.nvidia.com/isaac-ros/release-4"
}
variable "ISAAC_DEBIAN_COMPONENTS" {
default = "main"
}
variable "ISAAC_DEBIAN_DIST" {
default = "noble"
}
variable "ARCH" {
default = "x86_64"
}
variable "FILE_ARCH" {
default = "amd64"
}
variable "CACHE_FROM_REGISTRY" {
default = "nvcr.io/nvidia/isaac/ros"
}
target "isaac_ros_c1a76866f0754322e3cbe60b628df8f6" {
context = "/etc/isaac-ros-cli/docker/.."
dockerfile = "/etc/isaac-ros-cli/docker/Dockerfile.isaac_ros"
tags = ["nvcr.io/nvidia/isaac/ros/isaac_ros_c1a76866f0754322e3cbe60b628df8f6-amd64:latest"]
args = {
PLATFORM = "amd64",
ISAAC_DEBIAN_DISTRO_SUFFIX = "",
ISAAC_ROS_PLATFORM = "amd64",
ISAAC_DEBIAN_KEY_URL = "https://isaac.download.nvidia.com/isaac-ros/repos.key",
ISAAC_DEBIAN_REPOSITORY = "https://isaac.download.nvidia.com/isaac-ros/release-4",
ISAAC_DEBIAN_COMPONENTS = "main",
ISAAC_DEBIAN_DIST = "noble"
}
}
target "isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3" {
context = "/etc/isaac-ros-cli/docker"
dockerfile = "/etc/isaac-ros-cli/docker/Dockerfile.realsense"
tags = ["nvcr.io/nvidia/isaac/ros/isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64:latest"]
args = {
PLATFORM = "amd64",
ISAAC_DEBIAN_DISTRO_SUFFIX = "",
ISAAC_ROS_PLATFORM = "amd64",
BASE_IMAGE = "nvcr.io/nvidia/isaac/ros/isaac_ros_c1a76866f0754322e3cbe60b628df8f6-amd64:latest",
ISAAC_DEBIAN_KEY_URL = "https://isaac.download.nvidia.com/isaac-ros/repos.key",
ISAAC_DEBIAN_REPOSITORY = "https://isaac.download.nvidia.com/isaac-ros/release-4",
ISAAC_DEBIAN_COMPONENTS = "main",
ISAAC_DEBIAN_DIST = "noble"
}
depends_on = ["isaac_ros_c1a76866f0754322e3cbe60b628df8f6"]
}
target "final_target" {
dockerfile-inline = "FROM nvcr.io/nvidia/isaac/ros/isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64:latest"
tags = ["nvcr.io/nvidia/isaac/ros:isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64"]
depends_on = ["isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3"]
}
STDERR:
Get "https://nvcr.io/v2/nvidia/isaac/ros/isaac_ros_c1a76866f0754322e3cbe60b628df8f6-amd64/manifests/latest": unknown: {"errors": [{"code": "NAME_INVALID", "message": "Incorrect Repository Format"}]}
STDERR:
Get "https://nvcr.io/v2/nvidia/isaac/ros/isaac_ros-realsense_be0a60ff95f61811577634e6cdaee0d3-amd64/manifests/latest": unknown: {"errors": [{"code": "NAME_INVALID", "message": "Incorrect Repository Format"}]}
docker buildx create --name isaaceks-x86_64
Building image isaac_ros_c1a76866f0754322e3cbe60b628df8f6
#0 building with "default" instance using docker driver
#1 [internal] load local bake definitions
#1 reading /tmp/tmpt_krb0i8/docker-bake.hcl 2.26kB / 2.26kB done
#1 DONE 0.0s
Your build is requesting privileges for following possibly insecure capabilities:
- Read access to path /etc/isaac-ros-cli
In order to not see this message in the future pass "--allow=fs.read=/etc/isaac-ros-cli" to grant requested privileges.
Your full command with requested privileges:
docker buildx bake --allow=fs.read=/etc/isaac-ros-cli isaac_ros_c1a76866f0754322e3cbe60b628df8f6 --progress=plain --builder default --provenance=false --load --file /tmp/tmpt_krb0i8/docker-bake.hcl
#0 building with "default" instance using docker driver
#1 [internal] load build definition from Dockerfile.isaac_ros
#1 transferring dockerfile: 7.16kB done
#1 DONE 0.0s
#2 [auth] nvidia/base/ubuntu:pull token for nvcr.io
#2 DONE 0.0s
#3 [internal] load metadata for nvcr.io/nvidia/base/ubuntu:noble-20251013
#3 DONE 1.4s
#4 [internal] load .dockerignore
#4 transferring context: 2B done
#4 DONE 0.0s
#5 [stage-0 1/25] FROM nvcr.io/nvidia/base/ubuntu:noble-20251013@sha256:43fa5063e80fbbc533892af3ccca190868ce48db5a8928b19d7815c40436af8e
#5 resolve nvcr.io/nvidia/base/ubuntu:noble-20251013@sha256:43fa5063e80fbbc533892af3ccca190868ce48db5a8928b19d7815c40436af8e done
#5 DONE 0.0s
#6 [stage-0 3/25] RUN mkdir -p /var/cache/apt/tmp && chmod 1777 /var/cache/apt/tmp && echo 'APT::ExtractTemplates::TempDir "/var/cache/apt/tmp";' > /etc/apt/apt.conf.d/99temp
#6 CACHED
#7 [stage-0 5/25] RUN --mount=type=cache,target=/var/cache/apt,sharing=locked apt-get update && apt-get install -y build-essential ca-certificates curl gnupg lsb-release gosu sudo udev wget
#7 CACHED
#8 [stage-0 4/25] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/base-start-packages.csv
#8 CACHED
#9 [stage-0 6/25] RUN --mount=type=cache,target=/var/cache/apt,sharing=locked k="/usr/share/keyrings/nvidia-isaac-ros.gpg" && curl -fsSL "https://isaac.download.nvidia.com/isaac-ros/repos.key" | gpg --dearmor | tee -a $k > /dev/null && f="/etc/apt/sources.list.d/nvidia-isaac-ros.list" && touch $f && d="noble" && if [[ -n "" && "${d}" != *"" ]]; then d="${d}"; fi && s="deb [signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/release-4 ${d} main" && (grep -qxF "$s" $f || echo "$s" | tee -a $f) && apt-get update
#9 CACHED
#10 [stage-0 2/25] RUN chmod 1777 /tmp
#10 CACHED
#11 [stage-0 7/25] RUN --mount=type=cache,target=/var/cache/apt,sharing=locked if [[ amd64 == 'arm64' ]]; then wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/sbsa/cuda-keyring_1.1-1_all.deb; elif [[ amd64 == 'amd64' ]]; then wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb; else echo "Invalid platform: amd64"; exit 1; fi && dpkg -i cuda-keyring_1.1-1_all.deb
#11 CACHED
#12 [internal] load build context
#12 transferring context: 2.17kB done
#12 DONE 0.0s
#13 [stage-0 8/25] RUN --mount=type=cache,target=/var/cache/apt,sharing=locked apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && if [[ amd64 == 'arm64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/common r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; elif [[ amd64 == 'amd64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/x86_64/noble r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; else echo "Unrecognized platform: amd64" && exit 1 ; fi && apt-get update
#13 0.113 Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
#13 0.120 Executing: /tmp/apt-key-gpghome.WRhHXv08qo/gpg.1.sh --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
#13 0.122 gpg: requesting key from 'https://repo.download.nvidia.com/jetson/jetson-ota-public.asc'
#13 0.319 gpg: WARNING: unable to fetch URI https://repo.download.nvidia.com/jetson/jetson-ota-public.asc: Network error
#13 0.319 gpg: key fetch failed: Network error
#13 ERROR: process "/bin/bash -c apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && if [[ ${PLATFORM} == 'arm64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/common r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; elif [[ ${PLATFORM} == 'amd64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/x86_64/noble r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; else echo \"Unrecognized platform: ${PLATFORM}\" && exit 1 ; fi && apt-get update" did not complete successfully: exit code: 2
------
> [stage-0 8/25] RUN --mount=type=cache,target=/var/cache/apt,sharing=locked apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && if [[ amd64 == 'arm64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/common r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; elif [[ amd64 == 'amd64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/x86_64/noble r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; else echo "Unrecognized platform: amd64" && exit 1 ; fi && apt-get update:
0.113 Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
0.120 Executing: /tmp/apt-key-gpghome.WRhHXv08qo/gpg.1.sh --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
0.122 gpg: requesting key from 'https://repo.download.nvidia.com/jetson/jetson-ota-public.asc'
0.319 gpg: WARNING: unable to fetch URI https://repo.download.nvidia.com/jetson/jetson-ota-public.asc: Network error
0.319 gpg: key fetch failed: Network error
------
1 warning found (use docker --debug to expand):
- SecretsUsedInArgOrEnv: Do not use ARG or ENV instructions for sensitive data (ARG "ISAAC_DEBIAN_KEY_URL") (line 40)
Dockerfile.isaac_ros:79
--------------------
78 | # Set up Jetson apt repository
79 | >>> RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
80 | >>> apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && \
81 | >>> if [[ ${PLATFORM} == 'arm64' ]]; then \
82 | >>> echo 'deb http://repo.download.nvidia.com/jetson/common r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; \
83 | >>> elif [[ ${PLATFORM} == 'amd64' ]]; then \
84 | >>> echo 'deb http://repo.download.nvidia.com/jetson/x86_64/noble r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; \
85 | >>> else \
86 | >>> echo "Unrecognized platform: ${PLATFORM}" && exit 1 ; \
87 | >>> fi && \
88 | >>> apt-get update
89 |
--------------------
ERROR: failed to solve: process "/bin/bash -c apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && if [[ ${PLATFORM} == 'arm64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/common r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; elif [[ ${PLATFORM} == 'amd64' ]]; then echo 'deb http://repo.download.nvidia.com/jetson/x86_64/noble r39.2 main' > /etc/apt/sources.list.d/nvidia-jetson-apt-source.list; else echo \"Unrecognized platform: ${PLATFORM}\" && exit 1 ; fi && apt-get update" did not complete successfully: exit code: 2
docker buildx rm isaaceks-x86_64
Traceback (most recent call last):
File "/usr/lib/isaac-ros-cli/run_dev.py", line 710, in <module>
main()
File "/usr/lib/isaac-ros-cli/run_dev.py", line 703, in main
ensure_image_available(
File "/usr/lib/isaac-ros-cli/run_dev.py", line 635, in ensure_image_available
build_image_layers(**build_kwargs)
File "/usr/lib/isaac-ros-cli/build_image_layers.py", line 958, in main
raise e
File "/usr/lib/isaac-ros-cli/build_image_layers.py", line 956, in main
run_shell(build_cmd, capture_output=False, env=env_dict, check=True)
File "/usr/lib/isaac-ros-cli/build_image_layers.py", line 91, in run_shell
raise subprocess.CalledProcessError(
subprocess.CalledProcessError: Command 'docker buildx bake isaac_ros_c1a76866f0754322e3cbe60b628df8f6 --progress=plain --builder default --provenance=false --load --file /tmp/tmpt_krb0i8/docker-bake.hcl' returned non-zero exit status 1.
The configuration file, config/isaac-ros-cli/config.yaml, follows the instructions.
docker:
image:
additional_image_keys:
- realsense
When I remove the config file, the activation command run successfully.
Does the realsense activation process fail to pull the docker images?
I found the base ROS image on the NVIDIA Registry, but I can’t find the Realsense image. Is the Realsense image publicly available?
Environments:
~$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 24.04.4 LTS
Release: 24.04
Codename: noble
~$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2026 NVIDIA Corporation
Built on Mon_Mar_02_09:52:23_PM_PST_2026
Cuda compilation tools, release 13.2, V13.2.51
Build cuda_13.2.r13.2/compiler.37434383_0
~$ docker --version
Docker version 29.3.1, build c2be9cc