Hi, I am using the Jetson Orin Nano 8GB Developer Kit and would like to use Isaac ROS. I followed the instructions on this website:
https://nvidia-isaac-ros.github.io/getting_started/index.html
I completed the Compute Setup and Developer Environment Setup but am currently stuck at the Sensors Setup (Isaac ROS RealSense Setup), detailed on this page:
https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/sensors/realsense_setup.html
While performing the fourth step—launching the Docker container—I encountered the following error:
docker: Error response from daemon: failed to create task for container: failed to create shim task: OCI runtime create failed: could not apply required modification to OCI specification: error modifying OCI spec: failed to inject CDI devices: unresolvable CDI devices nvidia.com/gpu=all, nvidia.com/pva=all: unknown.
Below is the full terminal output for context:
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: /mnt/nova_ssd/workspaces/isaac_ros-dev/
Building aarch64.ros2_humble.realsense base as image: isaac_ros_dev-aarch64
Building layered image for key aarch64.ros2_humble.realsense 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/nvidia/isaac/ros:aarch64-ros2_humble-realsense_c16b79a140e000f6cdd78ab7f4e4b7bf exists on remote registry
Checking if base image nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a exists on remote registry
Found pre-built base image: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a
aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a: Pulling from nvidia/isaac/ros
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cedbafbacff5: Extracting 5.014MB/67.86MB
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Digest: sha256:69b1a8b4373fce2a57ab656cd7c7e2a714f685cfd62168418caeaa216d4315a0
Status: Downloaded newer image for nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a
nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a
Finished pulling pre-built base image: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a
Resolved the following 1 Dockerfiles for target image: aarch64.ros2_humble.realsense
/mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.realsense
Building /mnt/nova_ssd/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/../docker/Dockerfile.realsense as image: isaac_ros_dev-aarch64 with base: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a
[+] Building 3612.8s (13/13) FINISHED docker:default
=> [internal] load build definition from Dockerfile.realsense 0.1s
=> => transferring dockerfile: 2.42kB 0.0s
=> [internal] load metadata for nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a 0.0s
=> [internal] load .dockerignore 0.1s
=> => transferring context: 2B 0.0s
=> [internal] load build context 0.2s
=> => transferring context: 11.54kB 0.0s
=> [stage-0 1/8] FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_deaea1a392d5c02f76be3f4651f4b65a 4.1s
=> [stage-0 2/8] COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh 4.7s
=> [stage-0 3/8] COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh 0.1s
=> [stage-0 4/8] RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && /opt/realsense/install-realsense-dependencies.sh; chmod +x /opt/realsense/build-librealsense.sh && /opt 3046.4s
=> [stage-0 5/8] RUN mkdir -p /opt/realsense/ 0.1s
=> [stage-0 6/8] COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh 0.1s
=> [stage-0 7/8] COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules 0.1s
=> [stage-0 8/8] RUN --mount=type=cache,target=/var/cache/apt mkdir -p /opt/ros/humble/src && cd /opt/ros/humble/src && git clone https://github.com/NVIDIA-ISAAC-ROS/realsense-ros.git -b 545.1s
=> exporting to image 11.8s
=> => exporting layers 11.8s
=> => writing image sha256:d1bc98e3c1285a3e5f6050bf288b8948a2c2e0a67d2db042356cf7c0f293b285 0.0s
=> => naming to docker.io/library/isaac_ros_dev-aarch64 0.0s
Running isaac_ros_dev-aarch64-container
docker: Error response from daemon: failed to create task for container: failed to create shim task: OCI runtime create failed: could not apply required modification to OCI specification: error modifying OCI spec: failed to inject CDI devices: unresolvable CDI devices nvidia.com/gpu=all, nvidia.com/pva=all: unknown.
/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$
Any suggestions or insights would be greatly appreciated!