Install of isaac_ros_foundationpose without Docker/Isaac Apt

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello,

I am trying to install the ros foundation pose package, from what I understand you either have to go with a docker image (which is too big and a bit overkill for me) or to go through a reinstall of ros through the isaac apt repos (not suitable either, mayber I understood this part wrong). Is there a guide on how to install fundation pose and its required packages on a basic ros2 humble install ? I only need the pose estimation part (if it makes it easier !)

Thanks, have a nice day !

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Hi @juju, and welcome to the Isaac ROS forum.

We don’t have documentation to install the Isaac ROS packages outside a docker, but you can use our Dockerfile, such as a reference, to build and check if your device has all the software installed.

In the Isaac ROS common repository, you can find all the Dockerfiles needed to build your setup in the Docker folder: isaac_ros_common/docker at main · NVIDIA-ISAAC-ROS/isaac_ros_common · GitHub

Best,
Raffaello

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Hi @Raffaello

Thanks for your answer !

Is the isaac ros common package the only pre requesite to install foundation pose ? by that i mean if i install it i would just have to apt install ros-humble-isaac-ros-foundationpose and download the weights afterwards to have it run. And do i need the inside of the 3 dockerfiles or some parts are not mandatory ?

Thanks again :)

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There are other packages that Isaac ROS foundation pose needs, but please also follow the installation from source, that will drive you (via rosdep) to install all required packages.

https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html

Best,
Raffaello

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