Isaac ROS in Xavier NX Dev Kit

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi, I have a Xavier NX dev kit flashed with Jetpack 5.1.3. I am trying to install Isaac ROS to use the VSLAM packages with a realsense d435i. I was following the tutorial in Isaac ROS NITROS Bridge — isaac_ros_docs documentation to build the docker in ROS Noetic but i found myself with an error regarding the topics when launching the docker:

docker run -it --cap-add=SYS_PTRACE --privileged --network host --pid host --runtime nvidia --name nitros_bridge --rm nitros_bridge:latest nitros_bridge_convert_forward.yaml nitros_bridge_convert_forward.launch

The parameter ‘services_1_to_2’ either doesn’t exist or isn’t an array
The parameter ‘services_2_to_1’ either doesn’t exist or isn’t an array

Am I missing a step building the docker? I apologize if the question is too simple

2

Hi @jmartineznapky

I see you are working with an old Jetpack not supported by the current Isaac ROS. Now Isaac ROS works with Jetpack 6.0

For your version, you should download the version Isaac ROS 2.0

In this case you need to build from source the packet (branch relase-2.0.0)

3

Thank you for your answer, I am doing as said, however i noticed the docker file from release 2.0 is significantly less complex than realease 3.0. Why does the release of 3.0 build both ros humble and noetic but release 2.0 only noetic?

4

Hi @jmartineznapky

The reason can be found on the Isaac ROS 3.0 release notes:

  • ROS 1 Noetic not supported on Ubuntu 22.04 for use with Isaac ROS NITROS Bridge

I hope I helped you.

Best,
Raffaello