Dear Isaac ROS devs,
I am currently working with a Jetson AGX Orin 64GB Developer Kit running Jetpack 6.1, and I am trying to use Isaac ROS 3.1 for visual SLAM with a Realsense D435i camera.
To set up Isaac ROS 3.1, I attempted to run the Docker container, but I encountered the following error:
Launching Isaac ROS Dev container with image key aarch64.ros2_humble.realsense.user: /mnt/nova_ssd/work2/isaac_ros-dev/
Building aarch64.ros2_humble.realsense.user base as image: isaac_ros_dev-aarch64
Building layered image for key aarch64.ros2_humble.realsense.user as isaac_ros_dev-aarch64
Using configured docker search paths: /mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common/scripts/../docker
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble-realsense-user_69b32f208215586a425711713cb524d3 exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble-realsense_bbc98feba92c4c3e2f7057129b5dc0b2 exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble_4ae57c198a850823906f592afa11b155 exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64_54b6d54348798d356ecd2513f71a2d14 exists on remote registry
Resolved the following 4 Dockerfiles for target image: aarch64.ros2_humble.realsense.user
/mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.user
/mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.realsense
/mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.ros2_humble
/mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.aarch64
Building /mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.aarch64 as image: aarch64-image with base:
[+] Building 935.4s (22/26) docker:default
=> [internal] load build definition from Dockerfile.aarch64 0.0s
=> => transferring dockerfile: 8.38kB 0.0s
=> [internal] load metadata for nvcr.io/nvidia/l4t-cuda:12.2.12-devel 0.5s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> [stage-0 1/23] FROM nvcr.io/nvidia/l4t-cuda:12.2.12-devel@sha256:f9c4057f9c5dde81bf9d17be0eb89724fcfe2f709b3fbd1c8d9359b221b 0.0s
=> CACHED [stage-0 2/23] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/a 0.0s
=> CACHED [stage-0 3/23] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y software-pro 0.0s
=> CACHED [stage-0 4/23] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y apt-utils ba 0.0s
=> CACHED [stage-0 5/23] RUN --mount=type=cache,target=/var/cache/apt wget -qO - https://isaac.download.nvidia.com/isaac-ro 0.0s
=> CACHED [stage-0 6/23] RUN --mount=type=cache,target=/var/cache/apt apt-key adv --fetch-keys https://repo.download.nvidia 0.0s
=> CACHED [stage-0 7/23] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y python3-dev 0.0s
=> CACHED [stage-0 8/23] RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1 0.0s
=> CACHED [stage-0 9/23] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y ffmpeg gfort 0.0s
=> [stage-0 10/23] RUN python3 -m pip install -U ninja 1.2s
=> [stage-0 11/23] RUN python3 -m pip install -U Cython pymongo wheel scikit-learn networkx "numpy>=1. 146.9s
=> [stage-0 12/23] RUN update-alternatives --install /usr/bin/llvm-config llvm-config /usr/bin/llvm-config-14 14 0.1s
=> [stage-0 13/23] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y --no-install-recommends 215.5s
=> [stage-0 14/23] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /lib/firmware && apt-get update && apt-get install -y 241.9s
=> [stage-0 15/23] RUN mkdir -p /opt/nvidia/tao && cd /opt/nvidia/tao && wget --content-disposition 'https://api.ngc.nvidia. 0.9s
=> [stage-0 16/23] RUN python3 -m pip install --no-cache https://developer.download.nvidia.com/compute/redist/jp/v60dp 122.2s
=> [stage-0 17/23] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y --no-install-recommends 11.8s
=> [stage-0 18/23] RUN --mount=type=cache,target=/var/cache/apt cd /opt && wget https://github.com/triton-inference-se 191.8s
=> ERROR [stage-0 19/23] RUN --mount=type=cache,target=/var/cache/apt wget -O /tmp/boost.tar.gz https://boostorg.jfrog.i 2.3s
------
> [stage-0 19/23] RUN --mount=type=cache,target=/var/cache/apt wget -O /tmp/boost.tar.gz https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz && (cd /tmp && tar xzf boost.tar.gz) && cd /tmp/boost_1_80_0 && ./bootstrap.sh --prefix=/usr && ./b2 install && rm -rf /tmp/boost*:
0.046 --2025-01-14 09:15:31-- https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz
0.048 Resolving boostorg.jfrog.io (boostorg.jfrog.io)... 3.95.117.170, 18.214.194.113, 18.232.172.199
0.072 Connecting to boostorg.jfrog.io (boostorg.jfrog.io)|3.95.117.170|:443... connected.
1.183 HTTP request sent, awaiting response... 302 Moved Temporarily
1.450 Location: https://landing.jfrog.com/reactivate-server/boostorg [following]
1.450 --2025-01-14 09:15:33-- https://landing.jfrog.com/reactivate-server/boostorg
1.450 Resolving landing.jfrog.com (landing.jfrog.com)... 18.232.172.199, 18.214.194.113, 3.95.117.170
1.463 Connecting to landing.jfrog.com (landing.jfrog.com)|18.232.172.199|:443... connected.
2.020 HTTP request sent, awaiting response... 200 OK
2.205 Length: 11534 (11K) [text/html]
2.205 Saving to: '/tmp/boost.tar.gz'
2.206
2.206 0K .......... . 100% 23.2M=0s
2.206
2.206 2025-01-14 09:15:33 (23.2 MB/s) - '/tmp/boost.tar.gz' saved [11534/11534]
2.206
2.226
2.226 gzip: stdin: not in gzip format
2.226 tar: Child returned status 1
2.226 tar: Error is not recoverable: exiting now
------
1 warning found (use docker --debug to expand):
- LegacyKeyValueFormat: "ENV key=value" should be used instead of legacy "ENV key value" format (line 18)
Dockerfile.aarch64:219
--------------------
218 | # Current libboost-dev apt packages are < 1.78, so install from tar.gz
219 | >>> RUN --mount=type=cache,target=/var/cache/apt \
220 | >>> wget -O /tmp/boost.tar.gz \
221 | >>> https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz \
222 | >>> && (cd /tmp && tar xzf boost.tar.gz) \
223 | >>> && cd /tmp/boost_1_80_0 \
224 | >>> && ./bootstrap.sh --prefix=/usr \
225 | >>> && ./b2 install \
226 | >>> && rm -rf /tmp/boost*
227 |
--------------------
ERROR: failed to solve: process "/bin/bash -c wget -O /tmp/boost.tar.gz https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz && (cd /tmp && tar xzf boost.tar.gz) && cd /tmp/boost_1_80_0 && ./bootstrap.sh --prefix=/usr && ./b2 install && rm -rf /tmp/boost*" did not complete successfully: exit code: 2
/mnt/nova_ssd/work2/isaac_ros-dev/src/isaac_ros_common
I also tried modifying the Dockerfile.aarch64 file by replacing "release-3.0" with "legacy-release-3.1", but the same error persists.
I would greatly appreciate any guidance or suggestions to resolve this issue. Thank you in advance for your help!