ISAAC ROS Installation Errors

REGATTE_00 · July 19, 2024, 6:18pm

Hello,

I’m trying to install the ISAAC ROS system, but I’m getting the following errors from Docker:

cmd used to run:

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh

System:
Ubuntu 22.04LTS
ROS2 Humble
Isaac Sim V2023.1.1


#RUN --mount=type=cache,target=/var/cache/apt \
243

#    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
244

#    && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
245

#    && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
246

#    && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
247

#    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
248

#    && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
249

#    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
250

#    && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
251

#    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
252

#    && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
253

#    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
254

#    && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
255

#    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
256

#    && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
257

#    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb

The above lines are causing the error, and the docker error log is given in the below text file

docker error log.txt (103.3 KB)

I’ve tried to divide the RUN command to multiple smaller RUN commands and the moveit_task_constructor/core is the one posing the error.

How do i fix this??

Refernces used:

ISAAC ROS MISSION CLIENT: link

REGATTE_00 · July 20, 2024, 8:43pm

I’ve managed to fix the errors:

The error’s are

- The error log shows that the .deb packages are not being generated in the expected directory. 
- The error indicates that py_binding_tools is missing, which is a dependency required by the moveit_task_constructor.

Update the following lines from 241

Original Lines

# Install MoveIt task constructor from source.  The "demo" package depends on moveit_resources_panda_moveit_config,
# installed from source above.
RUN --mount=type=cache,target=/var/cache/apt \
    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
    && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
    && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
    && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb

Updated Lines

# Install necessary tools
RUN apt-get update && apt-get install -y \
    git \
    fakeroot \
    python3-bloom \
    ros-humble-py-binding-tools \
    && rm -rf /var/lib/apt/lists/*

# Create a cache mount and clone the repository
RUN --mount=type=cache,target=/var/cache/apt \
    mkdir -p ${ROS_ROOT}/src && \
    cd ${ROS_ROOT}/src && \
    git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
    || { echo "Git clone failed"; exit 1; }

# Source setup.bash and build msgs
RUN --mount=type=cache,target=/var/cache/apt \
    /bin/bash -c ' \
    echo "Sourcing setup.bash" && \
    source ${ROS_ROOT}/setup.bash && \
    cd ${ROS_ROOT}/src/moveit_task_constructor/msgs && \
    echo "Generating rosdebian for msgs" && \
    bloom-generate rosdebian && \
    echo "Building msgs package" && \
    fakeroot debian/rules binary && \
    echo "Checking for generated .deb or .ddeb files" && \
    find .. -name "*.deb" -o -name "*.ddeb" && \
    if find .. -name "*.deb" -o -name "*.ddeb" 1> /dev/null 2>&1; then \
        echo "Installing msgs package" && \
        apt-get install -y $(find .. -name "*.deb" -o -name "*.ddeb") && \
        echo "Cleaning up msgs package" && \
        find .. -name "*.deb" -o -name "*.ddeb" -delete; \
    else \
        echo "No .deb or .ddeb files found, build failed"; \
        exit 1; \
    fi \
    || { echo "Building msgs failed"; exit 1; }'

# Continue with the other packages similarly
# Build rviz_marker_tools
RUN --mount=type=cache,target=/var/cache/apt \
    /bin/bash -c ' \
    echo "Sourcing setup.bash" && \
    source ${ROS_ROOT}/setup.bash && \
    cd ${ROS_ROOT}/src/moveit_task_constructor/rviz_marker_tools && \
    echo "Generating rosdebian for rviz_marker_tools" && \
    bloom-generate rosdebian && \
    echo "Building rviz_marker_tools package" && \
    fakeroot debian/rules binary && \
    echo "Checking for generated .deb or .ddeb files" && \
    find .. -name "*.deb" -o -name "*.ddeb" && \
    if find .. -name "*.deb" -o -name "*.ddeb" 1> /dev/null 2>&1; then \
        echo "Installing rviz_marker_tools package" && \
        apt-get install -y $(find .. -name "*.deb" -o -name "*.ddeb") && \
        echo "Cleaning up rviz_marker_tools package" && \
        find .. -name "*.deb" -o -name "*.ddeb" -delete; \
    else \
        echo "No .deb or .ddeb files found, build failed"; \
        exit 1; \
    fi \
    || { echo "Building rviz_marker_tools failed"; exit 1; }'

# Repeat similar steps for core, capabilities, visualization, and demo

# Build core
RUN --mount=type=cache,target=/var/cache/apt \
    /bin/bash -c ' \
    echo "Sourcing setup.bash" && \
    source ${ROS_ROOT}/setup.bash && \
    cd ${ROS_ROOT}/src/moveit_task_constructor/core && \
    echo "Generating rosdebian for core" && \
    bloom-generate rosdebian && \
    echo "Building core package" && \
    fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck && \
    echo "Checking for generated .deb or .ddeb files" && \
    find .. -name "*.deb" -o -name "*.ddeb" && \
    if find .. -name "*.deb" -o -name "*.ddeb" 1> /dev/null 2>&1; then \
        echo "Installing core package" && \
        apt-get install -y $(find .. -name "*.deb" -o -name "*.ddeb") && \
        echo "Cleaning up core package" && \
        find .. -name "*.deb" -o -name "*.ddeb" -delete; \
    else \
        echo "No .deb or .ddeb files found, build failed"; \
        exit 1; \
    fi \
    || { echo "Building core failed"; exit 1; }'

# Build capabilities
RUN --mount=type=cache,target=/var/cache/apt \
    /bin/bash -c ' \
    echo "Sourcing setup.bash" && \
    source ${ROS_ROOT}/setup.bash && \
    cd ${ROS_ROOT}/src/moveit_task_constructor/capabilities && \
    echo "Generating rosdebian for capabilities" && \
    bloom-generate rosdebian && \
    echo "Building capabilities package" && \
    fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck && \
    echo "Checking for generated .deb or .ddeb files" && \
    find .. -name "*.deb" -o -name "*.ddeb" && \
    if find .. -name "*.deb" -o -name "*.ddeb" 1> /dev/null 2>&1; then \
        echo "Installing capabilities package" && \
        apt-get install -y $(find .. -name "*.deb" -o -name "*.ddeb") && \
        echo "Cleaning up capabilities package" && \
        find .. -name "*.deb" -o -name "*.ddeb" -delete; \
    else \
        echo "No .deb or .ddeb files found, build failed"; \
        exit 1; \
    fi \
    || { echo "Building capabilities failed"; exit 1; }'

# Build visualization
RUN --mount=type=cache,target=/var/cache/apt \
    /bin/bash -c ' \
    echo "Sourcing setup.bash" && \
    source ${ROS_ROOT}/setup.bash && \
    cd ${ROS_ROOT}/src/moveit_task_constructor/visualization && \
    echo "Generating rosdebian for visualization" && \
    bloom-generate rosdebian && \
    echo "Building visualization package" && \
    fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck && \
    echo "Checking for generated .deb or .ddeb files" && \
    find .. -name "*.deb" -o -name "*.ddeb" && \
    if find .. -name "*.deb" -o -name "*.ddeb" 1> /dev/null 2>&1; then \
        echo "Installing visualization package" && \
        apt-get install -y $(find .. -name "*.deb" -o -name "*.ddeb") && \
        echo "Cleaning up visualization package" && \
        find .. -name "*.deb" -o -name "*.ddeb" -delete; \
    else \
        echo "No .deb or .ddeb files found, build failed"; \
        exit 1; \
    fi \
    || { echo "Building visualization failed"; exit 1; }'

# Build demo
RUN --mount=type=cache,target=/var/cache/apt \
    /bin/bash -c ' \
    echo "Sourcing setup.bash" && \
    source ${ROS_ROOT}/setup.bash && \
    cd ${ROS_ROOT}/src/moveit_task_constructor/demo && \
    echo "Generating rosdebian for demo" && \
    bloom-generate rosdebian && \
    echo "Building demo package" && \
    fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck && \
    echo "Checking for generated .deb or .ddeb files" && \
    find .. -name "*.deb" -o -name "*.ddeb" && \
    if find .. -name "*.deb" -o -name "*.ddeb" 1> /dev/null 2>&1; then \
        echo "Installing demo package" && \
        apt-get install -y $(find .. -name "*.deb" -o -name "*.ddeb") && \
        echo "Cleaning up demo package" && \
        find .. -name "*.deb" -o -name "*.ddeb" -delete; \
    else \
        echo "No .deb or .ddeb files found, build failed"; \
        exit 1; \
    fi \
    || { echo "Building demo failed"; exit 1; }'

REGATTE_00 · July 22, 2024, 3:37am

You could also face docker runtime not converted to nvidia runtime. If not automatically done, edit the daemon.json file as follows:

sudo nano /etc/docker/daemon.json

edit it as follows:

{
  "runtimes": {
    "nvidia": {
      "path": "nvidia-container-runtime",
      "runtimeArgs": []
    }
  },
  "default-runtime": "nvidia"
}

and restart docker

system · August 5, 2024, 3:38am

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ISAAC ROS Installation Errors

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