Installing Isaac ROS on Jetson AGX Xavier — Issues and Errors During Installation

Autonomous Machines Robotics - Isaac Isaac ROS
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Hello esteemed members of the NVIDIA community,

I’m trying to install Isaac ROS (preferably version 2.0 or any supported version) on my Jetson AGX Xavier but have encountered several problems and errors during the installation process. I would greatly appreciate your help and advice in resolving these issues.

What I’ve Done:

  1. System Setup:
  • Installed a fresh version of Ubuntu 20.04 on the Jetson AGX Xavier.
  • Installed the latest available JetPack SDK.
  • Updated the system using:

bash

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sudo apt-get update
sudo apt-get upgrade
  1. Installed Docker and NVIDIA Container Runtime:
  • Installed Docker:

bash

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sudo apt-get install -y docker.io
  • Added my user to the docker group:

bash

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sudo usermod -aG docker $USER
  • Installed the NVIDIA Container Toolkit:

bash

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distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update
sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker
  1. Verified Docker Installation:
  • Checked Docker version:

bash

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docker --version
  • Ran a test Docker container:

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sudo docker run --rm --gpus all nvidia/cuda:11.0-base nvidia-smi
  • Docker is functioning correctly.
  1. Attempted to Download the Isaac ROS Docker Image:
  • Logged into the NVIDIA NGC container registry:

bash

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docker login nvcr.io

* **Username:** `$oauthtoken`
* **Password:** Used the generated API key from my NGC account.
* Login was successful.
  • Tried to pull the Isaac ROS image:

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docker pull nvcr.io/nvidia/isaac_ros/isaac_ros-dev:humble
  • Received the error:

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Error response from daemon: pull access denied for nvcr.io/nvidia/isaac_ros/isaac_ros-dev, \
repository does not exist or may require 'docker login': denied: requested access to the resource is denied
  1. Tried Alternative Image Names:
  • Attempted to pull other images:

bash

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docker pull nvcr.io/nvidia/isaac_ros/isaac_ros-dev-aarch64:humble
docker pull nvcr.io/nvidia/isaac_ros/isaac_ros-dev-aarch64:2.1.0-humble
  • Still received access denied errors.
  1. Checked Acceptance of the End User License Agreement (EULA):
  • Logged into my NGC account via the web interface.
  • Located the Isaac ROS images.
  • Accepted the terms of the EULA.
  • Retried pulling the image, but the error persisted.
  1. Verified Account Permissions:
  • Ensured my NGC account is active with no restrictions.
  • Generated a new API key and repeated the login and pull steps.
  1. Attempted to Use NGC CLI:
  • Installed NGC CLI to view available images:

bash

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wget -O ngccli_linux.zip https://ngc.nvidia.com/downloads/ngccli_linux.zip && \
unzip ngccli_linux.zip && chmod +x ngc-cli/ngc
./ngc-cli/ngc config set
./ngc-cli/ngc registry image list nvidia/isaac_ros
  • Could not find the Isaac ROS images or encountered permission issues.
  1. Checked Internet Connection and Network Settings:
  • Confirmed the device has a stable internet connection.
  • Disabled firewall and proxy settings that might interfere with Docker.
  1. Attempted to Build Isaac ROS from Source:
  • Cloned the isaac_ros_common repository:

bash

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cd ~/isaac_ros_ws/src
git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git
  • Tried to build using colcon build but faced dependency issues and compatibility problems with ROS 2 Humble on the Jetson platform.

Summary of Problems:

  • Unable to download Isaac ROS Docker images from nvcr.io due to access errors.
  • Uncertainty about the correct image name and tag for Jetson AGX Xavier.
  • Possible permission issues despite successful login and EULA acceptance.
  • Difficulties building from source due to dependencies and compatibility issues.

Questions:

  1. Is there an updated or alternative method to install Isaac ROS on Jetson AGX Xavier?
  2. What is the correct Docker image name and tag to use for installing Isaac ROS on Jetson AGX Xavier with ROS 2 Humble?
  3. Are there specific permissions or steps required to access the Isaac ROS Docker images on nvcr.io?
  4. Has anyone recently successfully installed Isaac ROS on a Jetson AGX Xavier? Could you share the steps or any advice?

Additional Information:

  • JetPack Version: Using the latest available version for Jetson AGX Xavier.
  • Docker and NVIDIA Container Toolkit are installed and functioning correctly.
  • ROS 2 Humble is officially supported on Ubuntu 22.04, but I’m using Ubuntu 20.04.
  • Open to considering alternative approaches if installation via Docker is not feasible.

I appreciate your help and advice in resolving these issues. Thank you in advance for your support!

Best regards, Alex

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Thank you for providing such a detailed account of your installation attempts for Isaac ROS on your Jetson AGX Xavier. Your thorough explanation is greatly appreciated and helps in understanding the issues you’re facing.

I’d like to start by asking: Which specific documentation are you following for the Isaac ROS 2.x installation? It’s crucial to ensure you’re using the correct documentation that aligns with your hardware and software versions.

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Based on your setup, I recommend following the Isaac ROS 2.1.0 documentation for your installation. You can find this documentation at:
https://github.com/NVIDIA-ISAAC-ROS/NVIDIA-ISAAC-ROS.github.io/tree/release-2.1