Isaac ROS RealSense Setup: Cannot launch docker

Autonomous Machines Robotics - Isaac Isaac ROS
,
1

I am using Jetson Orin Nano 8GB Developer Kit with jetpack 6.0 and NVMe SSD. I would like to use Isaac ROS with Intel Realsense D455 but have a problem when doing Sensor Setup with the instructions from this website:
https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/sensors/realsense_setup.html

Before Sensor Setup, I have already finished Compute Setup and Developer Environment Setup from these two wesites:
https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/compute/index.html
https://nvidia-isaac-ros.github.io/getting_started/dev_env_setup.html

For Sensor Setup (Realsense) this is what I typed in terminal, I don’t think the docker container is launched successfully:

mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ git clone -b release-3.1 GitHub - NVIDIA-ISAAC-ROS/isaac_ros_common: Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.
fatal: could not create work tree dir ‘isaac_ros_common’: Permission denied
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ sudo git clone -b release-3.1 GitHub - NVIDIA-ISAAC-ROS/isaac_ros_common: Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.
Cloning into ‘isaac_ros_common’

remote: Enumerating objects: 1056, done.
remote: Counting objects: 100% (295/295), done.
remote: Compressing objects: 100% (169/169), done.
remote: Total 1056 (delta 184), reused 180 (delta 121), pack-reused 761 (from 1)
Receiving objects: 100% (1056/1056), 574.92 KiB | 3.42 MiB/s, done.
Resolving deltas: 100% (467/467), done.
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ sudo git clone -b 4.51.1 GitHub - IntelRealSense/realsense-ros: ROS Wrapper for Intel(R) RealSense(TM) Cameras
Cloning into ‘realsense-ros’

remote: Enumerating objects: 17212, done.
remote: Counting objects: 100% (329/329), done.
remote: Compressing objects: 100% (169/169), done.
remote: Total 17212 (delta 194), reused 261 (delta 159), pack-reused 16883 (from 1)
Receiving objects: 100% (17212/17212), 32.75 MiB | 9.76 MiB/s, done.
Resolving deltas: 100% (10980/10980), done.
Note: switching to ‘2a65533ee7431bdc05fe5744798efc7f5713f866’.

You are in ‘detached HEAD’ state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

git switch -c

Or undo this operation with:

git switch -

Turn off this advice by setting config variable advice.detachedHead to false

mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ sudo rm -rf ${ISAAC_ROS_WS}/src/isaac_ros_common ${ISAAC_ROS_WS}/src/realsense-ros
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ git clone -b release-3.1 GitHub - NVIDIA-ISAAC-ROS/isaac_ros_common: Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages. isaac_ros_common
fatal: could not create work tree dir ‘isaac_ros_common’: Permission denied
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ sudo git clone -b release-3.1 GitHub - NVIDIA-ISAAC-ROS/isaac_ros_common: Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages. isaac_ros_common
Cloning into ‘isaac_ros_common’

remote: Enumerating objects: 1056, done.
remote: Counting objects: 100% (295/295), done.
remote: Compressing objects: 100% (169/169), done.
remote: Total 1056 (delta 184), reused 180 (delta 121), pack-reused 761 (from 1)
Receiving objects: 100% (1056/1056), 574.92 KiB | 3.64 MiB/s, done.
Resolving deltas: 100% (467/467), done.
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ sudo git clone GitHub - IntelRealSense/realsense-ros: ROS Wrapper for Intel(R) RealSense(TM) Cameras -b 4.51.1
Cloning into ‘realsense-ros’

remote: Enumerating objects: 17212, done.
remote: Counting objects: 100% (329/329), done.
remote: Compressing objects: 100% (169/169), done.
remote: Total 17212 (delta 194), reused 261 (delta 159), pack-reused 16883 (from 1)
Receiving objects: 100% (17212/17212), 32.75 MiB | 9.51 MiB/s, done.
Resolving deltas: 100% (10980/10980), done.
Note: switching to ‘2a65533ee7431bdc05fe5744798efc7f5713f866’.

You are in ‘detached HEAD’ state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

git switch -c

Or undo this operation with:

git switch -

Turn off this advice by setting config variable advice.detachedHead to false

mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts &&
touch .isaac_ros_common-config &&
echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config
touch: cannot touch ‘.isaac_ros_common-config’: Permission denied
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ sudo cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts &&
touch .isaac_ros_common-config
sudo: cd: command not found
sudo: “cd” is a shell built-in command, it cannot be run directly.
sudo: the -s option may be used to run a privileged shell.
sudo: the -D option may be used to run a command in a specific directory.
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ sudo touch .isaac_ros_common-config
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config
bash: .isaac_ros_common-config: Permission denied
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ sudo echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config
bash: .isaac_ros_common-config: Permission denied
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ echo CONFIG_IMAGE_KEY=ros2_humble.realsense | sudo tee .isaac_ros_common-config
CONFIG_IMAGE_KEY=ros2_humble.realsense
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&
./scripts/run_dev.sh -d ${ISAAC_ROS_WS}
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common$

Can anyone help? Thanks a lot.

3

Hi @AustinCTH

Thank you for your post.

The reason could be that you executed mkdir -p /mnt/nova_ssd/workspaces/isaac_ros-dev/src with root permission. Please go through following commands, clone source and try again.

sudo rm -rf /mnt/nova_ssd
sudo mkdir -p /mnt/nova_ssd
sudo chown ${USER}:${USER} /mnt/nova_ssd
mkdir -p /mnt/nova_ssd/workspaces/isaac_ros-dev/src

Let me know,
Ahung

1 Like
4

Yep thanks @Ahung it started to try launching the docker container instead of skipping it. However, it showed this:

mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&
./scripts/run_dev.sh -d ${ISAAC_ROS_WS}
Launching Isaac ROS Dev container with image key aarch64.ros2_humble.realsense.user: /mnt/nova_ssd/workspaces/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/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble-realsense-user_474334a38bc61614605d8bc1af11882f exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble-realsense_6c677b302ddf2d9594dd22518b05fcae exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble_5d698e0d23e98e2567b1c9b70abd0c1f exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64_614b366df729318fe81c054b575cee53 exists on remote registry
Resolved the following 4 Dockerfiles for target image: aarch64.ros2_humble.realsense.user
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.user
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.realsense
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.ros2_humble
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.aarch64
Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.aarch64 as image: aarch64-image with base:
[+] Building 1.6s (26/26) FINISHED docker:default
=> [internal] load build definition from Dockerfile.aarch64 0.0s
=> => transferring dockerfile: 8.32kB 0.0s
=> [internal] load metadata for nvcr.io/nvidia/l4t-cuda:12.2.12-devel 1.5s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> [stage-0 1/22] FROM nvcr.io/nvidia/l4t-cuda:12.2.12-devel@sha256:f9c4057f9c5dde81bf9d17be0eb89724fcfe2f709b3fbd1c8d9359b221b2686e 0.0s
=> CACHED [stage-0 2/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-start-packages.csv 0.0s
=> CACHED [stage-0 3/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y software-properties-common && add-apt-repository universe && apt-get update 0.0s
=> CACHED [stage-0 4/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y apt-utils bash-completion build-essential ca-certificates curl g 0.0s
=> CACHED [stage-0 5/22] RUN --mount=type=cache,target=/var/cache/apt wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && grep -qxF "deb https://isaac.down 0.0s
=> CACHED [stage-0 6/22] RUN --mount=type=cache,target=/var/cache/apt apt-key adv --fetch-keys https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && apt-key adv --fetch-keys ht 0.0s
=> CACHED [stage-0 7/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y python3-dev python3-distutils python3-flake8 python3-pip python3-pyt 0.0s
=> CACHED [stage-0 8/22] RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1 0.0s
=> CACHED [stage-0 9/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y ffmpeg gfortran graphicsmagick-libmagick-dev-compat jq kmod lcov 0.0s
=> CACHED [stage-0 10/22] RUN python3 -m pip install -U Cython pymongo wheel scikit-learn ninja networkx “numpy>=1.24.4,<2” numpy-quaternion pyyaml "setupto 0.0s
=> CACHED [stage-0 11/22] RUN update-alternatives --install /usr/bin/llvm-config llvm-config /usr/bin/llvm-config-14 14 0.0s
=> CACHED [stage-0 12/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y --no-install-recommends cuda-cudart-12-2 cuda-libraries-12-2 cuda-nvml-dev-1 0.0s
=> CACHED [stage-0 13/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /lib/firmware && apt-get update && apt-get install -y libnvvpi3 tensorrt vpi3-dev 0.0s
=> CACHED [stage-0 14/22] RUN mkdir -p /opt/nvidia/tao && cd /opt/nvidia/tao && wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/org/nvidia/team/tao/tao-converter/v5.1.0_jp6 0.0s
=> CACHED [stage-0 15/22] RUN python3 -m pip install --no-cache https://developer.download.nvidia.com/compute/redist/jp/v60dp/pytorch/torch-2.2.0a0+6a974be.nv23.11-cp310-cp310-linux_aarch6 0.0s
=> CACHED [stage-0 16/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y --no-install-recommends libb64-0d libre2-9 rapidjson-dev libopenblas-dev 0.0s
=> CACHED [stage-0 17/22] RUN --mount=type=cache,target=/var/cache/apt cd /opt && wget https://github.com/triton-inference-server/server/releases/download/v2.40.0/tritonserver2.40.0-igpu.t 0.0s
=> CACHED [stage-0 18/22] 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 && 0.0s
=> CACHED [stage-0 19/22] RUN --mount=type=cache,target=/var/cache/apt cd /tmp && wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-lib-0.5.0_beta_DP-cuda12-aarch64 0.0s
=> CACHED [stage-0 20/22] RUN --mount=type=cache,target=/var/cache/apt apt-add-repository ppa:mosquitto-dev/mosquitto-ppa && apt-get update && apt-get install -y mosquitto mosquitt 0.0s
=> CACHED [stage-0 21/22] RUN python3 -m pip install -U jetson-stats 0.0s
=> CACHED [stage-0 22/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-end-packages.csv 0.0s
=> exporting to image 0.0s
=> => exporting layers 0.0s
=> => writing image sha256:95e57c22b73207a19593592a29be22ebf77aaa5d209ccc86f9f2c77a18d98655 0.0s
=> => naming to Docker Hub Container Image Library | App Containerization 0.0s

1 warning found (use docker --debug to expand):

  • LegacyKeyValueFormat: “ENV key=value” should be used instead of legacy “ENV key value” format (line 18)
    Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.ros2_humble as image: ros2_humble-image with base: aarch64-image
    [+] Building 0.2s (27/27) FINISHED docker:default
    => [internal] load build definition from Dockerfile.ros2_humble 0.0s
    => => transferring dockerfile: 13.71kB 0.0s
    => WARN: InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name (line 10) 0.0s
    => WARN: LegacyKeyValueFormat: “ENV key=value” should be used instead of legacy “ENV key value” format (line 17) 0.0s
    => [internal] load metadata for Docker Hub Container Image Library | App Containerization 0.0s
    => [internal] load .dockerignore 0.0s
    => => transferring context: 2B 0.0s
    => [stage-0 1/22] FROM Docker Hub Container Image Library | App Containerization 0.0s
    => [internal] load build context 0.0s
    => => transferring context: 276.05kB 0.0s
    => CACHED [stage-0 2/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-start-packages.csv 0.0s
    => CACHED [stage-0 3/22] RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 0.0s
    => CACHED [stage-0 4/22] RUN echo “Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon” 0.0s
    => CACHED [stage-0 5/22] RUN --mount=type=cache,target=/var/cache/apt curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 0.0s
    => CACHED [stage-0 6/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y devscripts dh-make fakeroot libxtensor-dev pytho 0.0s
    => CACHED [stage-0 7/22] RUN python3 -m pip install -U flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated 0.0s
    => CACHED [stage-0 8/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y ros-humble-ros-base ros-humble-angles ros-humble-apriltag ros-humble-beh 0.0s
    => CACHED [stage-0 9/22] COPY rosdep/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml 0.0s
    => CACHED [stage-0 10/22] RUN --mount=type=cache,target=/var/cache/apt rosdep init && echo “yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml” | tee /etc/ros/rosdep/sources.list 0.0s
    => CACHED [stage-0 11/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && git clone GitHub - osrf/negotiated && cd negotiat 0.0s
    => CACHED [stage-0 12/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && git clone GitHub - ros-perception/image_pipeline: An image processing pipeline for ROS.. 0.0s
    => CACHED [stage-0 13/22] COPY patches/rclcpp-disable-tests.patch /tmp/ 0.0s
    => CACHED [stage-0 14/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && export RCLCPP_VERSION="release/humble/rclcpp/$(apt-cache ma 0.0s
    => CACHED [stage-0 15/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y ros-humble-ament-cmake ros-humble-ament-cmake-gtest ros-humble-control-msgs 0.0s
    => CACHED [stage-0 16/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && git clone GitHub - moveit/moveit_resources: URDFs, meshes, and config packages for MoveIt testing. 0.0s
    => CACHED [stage-0 17/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && git clone https://github.com/ros-planning/moveit_task_const 0.0s
    => CACHED [stage-0 18/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y ros-humble-moveit-hybrid-planning 0.0s
    => CACHED [stage-0 19/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && git clone GitHub - moveit/moveit2_tutorials: A sphinx-based centralized documentation repo for MoveIt 2 0.0s
    => CACHED [stage-0 20/22] RUN python3 -m pip install -U paho-mqtt==1.6.1 0.0s
    => CACHED [stage-0 21/22] RUN sudo sed -i ‘917i #ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL’ /usr/src/googletest/googletest/include/gtest/internal/gtest-internal.h && sudo sed -i '920i 0.0s
    => CACHED [stage-0 22/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-end-packages.csv 0.0s
    => exporting to image 0.0s
    => => exporting layers 0.0s
    => => writing image sha256:cb12713cc76a520d1a7a941eba92f3ef92e51d2d71b1552a4ba8bdc681b7c88b 0.0s
    => => naming to Docker Hub Container Image Library | App Containerization 0.0s
    Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.realsense as image: realsense-image with base: ros2_humble-image
    [+] Building 0.2s (12/12) FINISHED docker:default
    => [internal] load build definition from Dockerfile.realsense 0.0s
    => => transferring dockerfile: 1.33kB 0.0s
    => WARN: InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 12) 0.0s
    => [internal] load metadata for Docker Hub Container Image Library | App Containerization 0.0s
    => [internal] load .dockerignore 0.0s
    => => transferring context: 2B 0.0s
    => [1/7] FROM Docker Hub Container Image Library | App Containerization 0.0s
    => [internal] load build context 0.0s
    => => transferring context: 11.54kB 0.0s
    => CACHED [2/7] COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh 0.0s
    => CACHED [3/7] COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh 0.0s
    => CACHED [4/7] RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && /opt/realsense/install-realsense-dependencies.sh; chmod +x /opt/realsense/build-librealsense.sh && /opt/rea 0.0s
    => CACHED [5/7] RUN mkdir -p /opt/realsense/ 0.0s
    => CACHED [6/7] COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh 0.0s
    => CACHED [7/7] COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules 0.0s
    => exporting to image 0.0s
    => => exporting layers 0.0s
    => => writing image sha256:d1bfb53fa6b43ba2a5de0402fa5d61852a8a338a8e54568f37db21ad47062d33 0.0s
    => => naming to Docker Hub Container Image Library | App Containerization 0.0s

1 warning found (use docker --debug to expand):

  • InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 12)
    Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/
/docker/Dockerfile.user as image: isaac_ros_dev-aarch64 with base: realsense-image
    [+] Building 0.2s (16/16) FINISHED docker:default
    => [internal] load build definition from Dockerfile.user 0.0s
    => => transferring dockerfile: 2.23kB 0.0s
    => WARN: InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 10) 0.0s
    => [internal] load metadata for Docker Hub Container Image Library | App Containerization 0.0s
    => [internal] load .dockerignore 0.0s
    => => transferring context: 2B 0.0s
    => [stage-0 1/11] FROM Docker Hub Container Image Library | App Containerization 0.0s
    => [internal] load build context 0.0s
    => => transferring context: 2.00kB 0.0s
    => CACHED [stage-0 2/11] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y sudo udev 0.0s
    => CACHED [stage-0 3/11] RUN if [ $(getent group triton-server) ]; then groupmod -o --gid 1001 -n admin triton-server ; usermod -l admin -u 1000 -m -d /home/admin triton-server ; 0.0s
    => CACHED [stage-0 4/11] RUN if [ ! $(getent passwd admin) ]; then groupadd --gid 1001 admin ; useradd --no-log-init --uid 1000 --gid 1001 -m admin ; fi 0.0s
    => CACHED [stage-0 5/11] RUN echo admin ALL=(root) NOPASSWD:ALL > /etc/sudoers.d/admin && chmod 0440 /etc/sudoers.d/admin && adduser admin video && adduser admin plugdev && adduser admin 0.0s
    => CACHED [stage-0 6/11] RUN mkdir -p /usr/local/bin/scripts 0.0s
    => CACHED [stage-0 7/11] COPY scripts/entrypoint.sh /usr/local/bin/scripts/ 0.0s
    => CACHED [stage-0 8/11] RUN chmod +x /usr/local/bin/scripts/    .sh 0.0s
    => CACHED [stage-0 9/11] RUN mkdir -p /usr/local/share/middleware_profiles 0.0s
    => CACHED [stage-0 10/11] COPY middleware_profiles/*profile.xml /usr/local/share/middleware_profiles/ 0.0s
    => CACHED [stage-0 11/11] RUN --mount=type=cache,target=/var/cache/apt rosdep update 0.0s
    => exporting to image 0.0s
    => => exporting layers 0.0s
    => => writing image sha256:0e657db478a3680d9f54a8fcf8558f83d251fb2de55f3adf9c1f7b18be999162 0.0s
    => => naming to Docker Hub Container Image Library | App Containerization 0.0s

1 warning found (use docker --debug to expand):

  • InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 10)
    Running isaac_ros_dev-aarch64-container
    docker: Error response from daemon: unknown or invalid runtime name: nvidia.
    See ‘docker run --help’.
    /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common
    mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common$

Are there any dependencies that are not installed properly? What does it mean by “unknown or invalid runtime name: nvidia”

5

Hi @AustinCTH

It looks that NVIDIA Container Runtime is not installed. SDK Manager can install it after flashing so that you should also have the other JetPack components CUDA/cuDNN/TensorRT/ect installed for some containers to function correctly.

If you have the NVIDIA L4T apt repo (normally this is already setup for you in /etc/apt/sources.list.d/nvidia-l4t-apt-source.list ) you can try installing these packages via apt:
$ apt-cache search nvidia-container
libnvidia-container-tools - NVIDIA container runtime library (command-line tools)
libnvidia-container1 - NVIDIA container runtime library
nvidia-container - NVIDIA Container Meta Package
nvidia-container-toolkit - NVIDIA Container toolkit
nvidia-container-toolkit-base - NVIDIA Container Toolkit Base

6

Thanks @Ahung for your immediate response. However, I guess the problem persists after installing those packages:

mic-711on@ubuntu:~$ sudo apt update
sudo apt install -y libnvidia-container-tools libnvidia-container1 nvidia-container nvidia-container-toolkit nvidia-container-toolkit-base
[sudo] password for mic-711on: 
Hit:1 https://download.docker.com/linux/ubuntu jammy InRelease
Hit:2 https://repo.download.nvidia.com/jetson/common r36.3 InRelease           
Hit:3 https://repo.download.nvidia.com/jetson/t234 r36.3 InRelease             
Hit:4 https://repo.download.nvidia.com/jetson/ffmpeg r36.3 InRelease           
Hit:5 http://packages.ros.org/ros2/ubuntu jammy InRelease                      
Hit:6 http://ports.ubuntu.com/ubuntu-ports jammy InRelease
Hit:7 http://ports.ubuntu.com/ubuntu-ports jammy-updates InRelease
Hit:8 http://ports.ubuntu.com/ubuntu-ports jammy-backports InRelease
Hit:9 http://ports.ubuntu.com/ubuntu-ports jammy-security InRelease
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
28 packages can be upgraded. Run 'apt list --upgradable' to see them.
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1
Use 'sudo apt autoremove' to remove them.
The following NEW packages will be installed:
  libnvidia-container-tools libnvidia-container1 nvidia-container
  nvidia-container-toolkit nvidia-container-toolkit-base
0 upgraded, 5 newly installed, 0 to remove and 28 not upgraded.
Need to get 3,721 kB of archives.
After this operation, 16.3 MB of additional disk space will be used.
Get:1 https://repo.download.nvidia.com/jetson/common r36.3/main arm64 nvidia-container-toolkit-base arm64 1.14.2-1 [2,073 kB]
Get:2 https://repo.download.nvidia.com/jetson/common r36.3/main arm64 libnvidia-container1 arm64 1.14.2-1 [809 kB]
Get:3 https://repo.download.nvidia.com/jetson/common r36.3/main arm64 libnvidia-container-tools arm64 1.14.2-1 [18.8 kB]
Get:4 https://repo.download.nvidia.com/jetson/common r36.3/main arm64 nvidia-container-toolkit arm64 1.14.2-1 [790 kB]
Get:5 https://repo.download.nvidia.com/jetson/common r36.3/main arm64 nvidia-container arm64 6.0+b106 [29.7 kB]
Fetched 3,721 kB in 1s (6,616 kB/s)         
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package nvidia-container-toolkit-base.
(Reading database ... 268328 files and directories currently installed.)
Preparing to unpack .../nvidia-container-toolkit-base_1.14.2-1_arm64.deb ...
Unpacking nvidia-container-toolkit-base (1.14.2-1) ...
Selecting previously unselected package libnvidia-container1:arm64.
Preparing to unpack .../libnvidia-container1_1.14.2-1_arm64.deb ...
Unpacking libnvidia-container1:arm64 (1.14.2-1) ...
Selecting previously unselected package libnvidia-container-tools.
Preparing to unpack .../libnvidia-container-tools_1.14.2-1_arm64.deb ...
Unpacking libnvidia-container-tools (1.14.2-1) ...
Selecting previously unselected package nvidia-container-toolkit.
Preparing to unpack .../nvidia-container-toolkit_1.14.2-1_arm64.deb ...
Unpacking nvidia-container-toolkit (1.14.2-1) ...
Selecting previously unselected package nvidia-container.
Preparing to unpack .../nvidia-container_6.0+b106_arm64.deb ...
Unpacking nvidia-container (6.0+b106) ...
Setting up nvidia-container-toolkit-base (1.14.2-1) ...
Setting up libnvidia-container1:arm64 (1.14.2-1) ...
Setting up libnvidia-container-tools (1.14.2-1) ...
Setting up nvidia-container-toolkit (1.14.2-1) ...
Setting up nvidia-container (6.0+b106) ...
INFO[0000] Config file does not exist; using empty config 
INFO[0000] Wrote updated config to /etc/docker/daemon.json 
INFO[0000] It is recommended that docker daemon be restarted. 
Processing triggers for libc-bin (2.35-0ubuntu3.8) ...
mic-711on@ubuntu:~$ cd ${ISAAC_ROS_WS}/src
git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common
git clone https://github.com/IntelRealSense/realsense-ros.git -b 4.51.1
fatal: destination path 'isaac_ros_common' already exists and is not an empty directory.
fatal: destination path 'realsense-ros' already exists and is not an empty directory.
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \
touch .isaac_ros_common-config && \
echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh -d ${ISAAC_ROS_WS}
Launching Isaac ROS Dev container with image key aarch64.ros2_humble.realsense.user: /mnt/nova_ssd/workspaces/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/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble-realsense-user_32b155f63ddec545d52bb654c4b55f0e exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble-realsense_6c677b302ddf2d9594dd22518b05fcae exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64-ros2_humble_5d698e0d23e98e2567b1c9b70abd0c1f exists on remote registry
Checking if base image nvcr.io/isaac/ros:aarch64_614b366df729318fe81c054b575cee53 exists on remote registry
Resolved the following 4 Dockerfiles for target image: aarch64.ros2_humble.realsense.user
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.user
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.realsense
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.ros2_humble
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.aarch64
Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.aarch64 as image: aarch64-image with base: 
[+] Building 1.7s (26/26) FINISHED                                                                                                                                                           docker:default
 => [internal] load build definition from Dockerfile.aarch64                                                                                                                                           0.0s
 => => transferring dockerfile: 8.32kB                                                                                                                                                                 0.0s
 => [internal] load metadata for nvcr.io/nvidia/l4t-cuda:12.2.12-devel                                                                                                                                 1.6s
 => [internal] load .dockerignore                                                                                                                                                                      0.0s
 => => transferring context: 2B                                                                                                                                                                        0.0s
 => [stage-0  1/22] FROM nvcr.io/nvidia/l4t-cuda:12.2.12-devel@sha256:f9c4057f9c5dde81bf9d17be0eb89724fcfe2f709b3fbd1c8d9359b221b2686e                                                                 0.0s
 => CACHED [stage-0  2/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-start-packages.csv                                             0.0s
 => CACHED [stage-0  3/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y         software-properties-common && add-apt-repository universe && apt-get update       0.0s
 => CACHED [stage-0  4/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y     apt-utils     bash-completion     build-essential     ca-certificates     curl     g  0.0s
 => CACHED [stage-0  5/22] RUN --mount=type=cache,target=/var/cache/apt     wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - &&     grep -qxF "deb https://isaac.down  0.0s
 => CACHED [stage-0  6/22] RUN --mount=type=cache,target=/var/cache/apt     apt-key adv --fetch-keys https://repo.download.nvidia.com/jetson/jetson-ota-public.asc     && apt-key adv --fetch-keys ht  0.0s
 => CACHED [stage-0  7/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y     python3-dev     python3-distutils     python3-flake8     python3-pip     python3-pyt  0.0s
 => CACHED [stage-0  8/22] RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1                                                                                                 0.0s
 => CACHED [stage-0  9/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y     ffmpeg     gfortran     graphicsmagick-libmagick-dev-compat     jq     kmod     lcov  0.0s
 => CACHED [stage-0 10/22] RUN python3 -m pip install -U     Cython     pymongo     wheel     scikit-learn     ninja     networkx     "numpy>=1.24.4,<2"     numpy-quaternion     pyyaml     "setupto  0.0s
 => CACHED [stage-0 11/22] RUN update-alternatives --install /usr/bin/llvm-config llvm-config /usr/bin/llvm-config-14 14                                                                               0.0s
 => CACHED [stage-0 12/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y --no-install-recommends     cuda-cudart-12-2     cuda-libraries-12-2     cuda-nvml-dev-1  0.0s
 => CACHED [stage-0 13/22] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /lib/firmware && apt-get update && apt-get install -y     libnvvpi3     tensorrt     vpi3-dev                         0.0s
 => CACHED [stage-0 14/22] RUN mkdir -p /opt/nvidia/tao && cd /opt/nvidia/tao &&     wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/org/nvidia/team/tao/tao-converter/v5.1.0_jp6  0.0s
 => CACHED [stage-0 15/22] RUN python3 -m pip install --no-cache         https://developer.download.nvidia.com/compute/redist/jp/v60dp/pytorch/torch-2.2.0a0+6a974be.nv23.11-cp310-cp310-linux_aarch6  0.0s
 => CACHED [stage-0 16/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y --no-install-recommends     libb64-0d     libre2-9     rapidjson-dev     libopenblas-dev  0.0s
 => CACHED [stage-0 17/22] RUN --mount=type=cache,target=/var/cache/apt     cd /opt     && wget https://github.com/triton-inference-server/server/releases/download/v2.40.0/tritonserver2.40.0-igpu.t  0.0s
 => CACHED [stage-0 18/22] 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     &&  0.0s
 => CACHED [stage-0 19/22] RUN --mount=type=cache,target=/var/cache/apt     cd /tmp &&     wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-lib-0.5.0_beta_DP-cuda12-aarch64  0.0s
 => CACHED [stage-0 20/22] RUN --mount=type=cache,target=/var/cache/apt apt-add-repository ppa:mosquitto-dev/mosquitto-ppa && apt-get update && apt-get install -y         mosquitto         mosquitt  0.0s
 => CACHED [stage-0 21/22] RUN python3 -m pip install -U     jetson-stats                                                                                                                              0.0s
 => CACHED [stage-0 22/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-end-packages.csv                                               0.0s
 => exporting to image                                                                                                                                                                                 0.0s
 => => exporting layers                                                                                                                                                                                0.0s
 => => writing image sha256:95e57c22b73207a19593592a29be22ebf77aaa5d209ccc86f9f2c77a18d98655                                                                                                           0.0s
 => => naming to docker.io/library/aarch64-image                                                                                                                                                       0.0s

 1 warning found (use docker --debug to expand):
 - LegacyKeyValueFormat: "ENV key=value" should be used instead of legacy "ENV key value" format (line 18)
Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.ros2_humble as image: ros2_humble-image with base: aarch64-image
[+] Building 0.2s (27/27) FINISHED                                                                                                                                                           docker:default
 => [internal] load build definition from Dockerfile.ros2_humble                                                                                                                                       0.0s
 => => transferring dockerfile: 13.71kB                                                                                                                                                                0.0s
 => WARN: InvalidDefaultArgInFrom: Default value for ARG $BASE_IMAGE results in empty or invalid base image name (line 10)                                                                             0.0s
 => WARN: LegacyKeyValueFormat: "ENV key=value" should be used instead of legacy "ENV key value" format (line 17)                                                                                      0.0s
 => [internal] load metadata for docker.io/library/aarch64-image:latest                                                                                                                                0.0s
 => [internal] load .dockerignore                                                                                                                                                                      0.0s
 => => transferring context: 2B                                                                                                                                                                        0.0s
 => [internal] load build context                                                                                                                                                                      0.0s
 => => transferring context: 276.05kB                                                                                                                                                                  0.0s
 => [stage-0  1/22] FROM docker.io/library/aarch64-image:latest                                                                                                                                        0.0s
 => CACHED [stage-0  2/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-start-packages.csv                                         0.0s
 => CACHED [stage-0  3/22] RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8                                                                                       0.0s
 => CACHED [stage-0  4/22] RUN echo "Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon"                                0.0s
 => CACHED [stage-0  5/22] RUN --mount=type=cache,target=/var/cache/apt     curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg    0.0s
 => CACHED [stage-0  6/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y         devscripts         dh-make         fakeroot         libxtensor-dev         pytho  0.0s
 => CACHED [stage-0  7/22] RUN python3 -m pip install -U         flake8-blind-except         flake8-builtins         flake8-class-newline         flake8-comprehensions         flake8-deprecated      0.0s
 => CACHED [stage-0  8/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y     ros-humble-ros-base     ros-humble-angles     ros-humble-apriltag     ros-humble-beh  0.0s
 => CACHED [stage-0  9/22] COPY rosdep/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml                                                                                             0.0s
 => CACHED [stage-0 10/22] RUN --mount=type=cache,target=/var/cache/apt     rosdep init     && echo "yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml" | tee /etc/ros/rosdep/sources.list  0.0s
 => CACHED [stage-0 11/22] RUN --mount=type=cache,target=/var/cache/apt     mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src     && git clone https://github.com/osrf/negotiated && cd negotiat  0.0s
 => CACHED [stage-0 12/22] RUN --mount=type=cache,target=/var/cache/apt     mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src     && git clone https://github.com/ros-perception/image_pipeline.  0.0s
 => CACHED [stage-0 13/22] COPY patches/rclcpp-disable-tests.patch /tmp/                                                                                                                               0.0s
 => CACHED [stage-0 14/22] RUN --mount=type=cache,target=/var/cache/apt     mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src     && export RCLCPP_VERSION="release/humble/rclcpp/$(apt-cache ma  0.0s
 => CACHED [stage-0 15/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y     ros-humble-ament-cmake     ros-humble-ament-cmake-gtest     ros-humble-control-msgs   0.0s
 => CACHED [stage-0 16/22] RUN --mount=type=cache,target=/var/cache/apt     mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src     && git clone https://github.com/ros-planning/moveit_resources.  0.0s
 => CACHED [stage-0 17/22] RUN --mount=type=cache,target=/var/cache/apt     mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src     && git clone https://github.com/ros-planning/moveit_task_const  0.0s
 => CACHED [stage-0 18/22] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y     ros-humble-moveit-hybrid-planning                                                     0.0s
 => CACHED [stage-0 19/22] RUN --mount=type=cache,target=/var/cache/apt     mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src     && git clone https://github.com/ros-planning/moveit2_tutorials  0.0s
 => CACHED [stage-0 20/22] RUN python3 -m pip install -U         paho-mqtt==1.6.1                                                                                                                      0.0s
 => CACHED [stage-0 21/22] RUN sudo sed -i '917i #ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL' /usr/src/googletest/googletest/include/gtest/internal/gtest-internal.h     && sudo sed -i '920i  0.0s
 => CACHED [stage-0 22/22] RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-end-packages.csv                                           0.0s
 => exporting to image                                                                                                                                                                                 0.0s
 => => exporting layers                                                                                                                                                                                0.0s
 => => writing image sha256:cb12713cc76a520d1a7a941eba92f3ef92e51d2d71b1552a4ba8bdc681b7c88b                                                                                                           0.0s
 => => naming to docker.io/library/ros2_humble-image                                                                                                                                                   0.0s
Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.realsense as image: realsense-image with base: ros2_humble-image
[+] Building 0.2s (12/12) FINISHED                                                                                                                                                           docker:default
 => [internal] load build definition from Dockerfile.realsense                                                                                                                                         0.0s
 => => transferring dockerfile: 1.33kB                                                                                                                                                                 0.0s
 => WARN: InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 12)                                                                           0.0s
 => [internal] load metadata for docker.io/library/ros2_humble-image:latest                                                                                                                            0.0s
 => [internal] load .dockerignore                                                                                                                                                                      0.0s
 => => transferring context: 2B                                                                                                                                                                        0.0s
 => [1/7] FROM docker.io/library/ros2_humble-image:latest                                                                                                                                              0.0s
 => [internal] load build context                                                                                                                                                                      0.0s
 => => transferring context: 11.54kB                                                                                                                                                                   0.0s
 => CACHED [2/7] COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh                                                                                                               0.0s
 => CACHED [3/7] COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh                                                                                       0.0s
 => CACHED [4/7] RUN chmod +x /opt/realsense/install-realsense-dependencies.sh &&     /opt/realsense/install-realsense-dependencies.sh;     chmod +x /opt/realsense/build-librealsense.sh && /opt/rea  0.0s
 => CACHED [5/7] RUN mkdir -p /opt/realsense/                                                                                                                                                          0.0s
 => CACHED [6/7] COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh                                                                                                                 0.0s
 => CACHED [7/7] COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules                                                                                   0.0s
 => exporting to image                                                                                                                                                                                 0.0s
 => => exporting layers                                                                                                                                                                                0.0s
 => => writing image sha256:d1bfb53fa6b43ba2a5de0402fa5d61852a8a338a8e54568f37db21ad47062d33                                                                                                           0.0s
 => => naming to docker.io/library/realsense-image                                                                                                                                                     0.0s

 1 warning found (use docker --debug to expand):
 - InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 12)
Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.user as image: isaac_ros_dev-aarch64 with base: realsense-image
[+] Building 0.2s (16/16) FINISHED                                                                                                                                                           docker:default
 => [internal] load build definition from Dockerfile.user                                                                                                                                              0.0s
 => => transferring dockerfile: 2.23kB                                                                                                                                                                 0.0s
 => WARN: InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 10)                                                                           0.0s
 => [internal] load metadata for docker.io/library/realsense-image:latest                                                                                                                              0.0s
 => [internal] load .dockerignore                                                                                                                                                                      0.0s
 => => transferring context: 2B                                                                                                                                                                        0.0s
 => [stage-0  1/11] FROM docker.io/library/realsense-image:latest                                                                                                                                      0.0s
 => [internal] load build context                                                                                                                                                                      0.0s
 => => transferring context: 2.00kB                                                                                                                                                                    0.0s
 => CACHED [stage-0  2/11] RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y         sudo         udev                                                                 0.0s
 => CACHED [stage-0  3/11] RUN if [ $(getent group triton-server) ]; then         groupmod -o --gid 1001 -n admin triton-server ;         usermod -l admin -u 1000 -m -d /home/admin triton-server ;   0.0s
 => CACHED [stage-0  4/11] RUN if [ ! $(getent passwd admin) ]; then         groupadd --gid 1001 admin ;         useradd --no-log-init --uid 1000 --gid 1001 -m admin ;     fi                         0.0s
 => CACHED [stage-0  5/11] RUN echo admin ALL=(root) NOPASSWD:ALL > /etc/sudoers.d/admin     && chmod 0440 /etc/sudoers.d/admin     && adduser admin video && adduser admin plugdev && adduser admin   0.0s
 => CACHED [stage-0  6/11] RUN mkdir -p /usr/local/bin/scripts                                                                                                                                         0.0s
 => CACHED [stage-0  7/11] COPY scripts/*entrypoint.sh /usr/local/bin/scripts/                                                                                                                         0.0s
 => CACHED [stage-0  8/11] RUN  chmod +x /usr/local/bin/scripts/*.sh                                                                                                                                   0.0s
 => CACHED [stage-0  9/11] RUN mkdir -p /usr/local/share/middleware_profiles                                                                                                                           0.0s
 => CACHED [stage-0 10/11] COPY middleware_profiles/*profile.xml /usr/local/share/middleware_profiles/                                                                                                 0.0s
 => CACHED [stage-0 11/11] RUN --mount=type=cache,target=/var/cache/apt     rosdep update                                                                                                              0.0s
 => exporting to image                                                                                                                                                                                 0.0s
 => => exporting layers                                                                                                                                                                                0.0s
 => => writing image sha256:0e657db478a3680d9f54a8fcf8558f83d251fb2de55f3adf9c1f7b18be999162                                                                                                           0.0s
 => => naming to docker.io/library/isaac_ros_dev-aarch64                                                                                                                                               0.0s

 1 warning found (use docker --debug to expand):
 - InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 10)
Running isaac_ros_dev-aarch64-container
docker: Error response from daemon: unknown or invalid runtime name: nvidia.
See 'docker run --help'.
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common
mic-711on@ubuntu:/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common$

Or are there any adjustments that I can make in “run_dev.sh” or “daemon.json”?

7

Hi @AustinCTH

It looks the same issue. Please try this one to install the NVIDIA Container Toolkit using apt.
https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#installing-with-apt

1 Like
8

Yep it worked! When installing NVIDIA Container Toolkit using apt, it kinda downgrade something, and it worked. Thanks @Ahung !

9

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