Isaac ROS Version 4 - JetPack v6.2 - Isaac ROS Argus

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,

I am new to Isaac ROS. I bought a Jetson Orin NX which I’ve upgraded to JetPack v6.2 (Ubuntu 22.04). I have a pair of ISX031 and ARO234 cameras that I wish to use the hardware accelerated packages for working with them.

I came to know about isaac-ros-argus-camera which seems helpful but I was never able to get it in Isaac ROS v4.

I then tried to use Isaac ROS v3.2 and soon realize it assumes JetPack 5 environment which predates Ubuntu 20.04.

I would like to work with Ubuntu 22.04 and JetPack v6.2. Will isaac-ros-argus-camera be integrated within isaac-ros release v4?

If not, is there any hardware accelerated packages within isaac-ros v4 that I could use to work with my cameras?

Thank you very much for helping!

2

Hello @activestealth,

Welcome to the forum, and thanks for your post!

The recent released Isaac ROS 4.0 is for Jetson Thor and it required JetPack 7.0 to be installed. Please check the supported platform and the limitation for more detail.
If you’re using Jetson Orin NX, the latest available version should be Isaac ROS 3.2 with JetPack 6.2.0, and Isaac_ROS_argus_camera package should be available.

3

Hi vchuang,

I tried following the guide specified on this link:

The output is as follows:

jetson@d3embedded-8ch:~/sketchspace/isaac_ros-dev/src$ cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \

./scripts/run_dev.sh

Launching Isaac ROS Dev container with image key aarch64.ros2_humble: /home/jetson/sketchspace/isaac_ros-dev

Building aarch64.ros2_humble base as image: isaac_ros_dev-aarch64

Building layered image for key aarch64.ros2_humble as isaac_ros_dev-aarch64

Using configured docker search paths: /home/jetson/sketchspace/isaac_ros-dev/src/isaac_ros_common/scripts/../docker

Checking if base image nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_4c0c55dddd2bbcc3e8d5f9753bee634c exists on remote registry

Found pre-built base image: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_4c0c55dddd2bbcc3e8d5f9753bee634c

aarch64-ros2_humble_4c0c55dddd2bbcc3e8d5f9753bee634c: Pulling from nvidia/isaac/ros

Digest: sha256:dd032d9aa0a4647460ab83dac734a155234a66fabeb80f9c659e7d4542a1ac94

Status: Image is up to date for nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_4c0c55dddd2bbcc3e8d5f9753bee634c




Finished pulling pre-built base image: nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_4c0c55dddd2bbcc3e8d5f9753bee634c

Nothing to build, retagged nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_4c0c55dddd2bbcc3e8d5f9753bee634c as isaac_ros_dev-aarch64

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



Run 'docker run --help' for more information

~/sketchspace/isaac_ros-dev/src/isaac_ros_common

jetson@d3embedded-8ch:~/sketchspace/isaac_ros-dev/src/isaac_ros_common$

How can I overcome this problem without disrupting too much on my current environment?

4

Hello @activestealth,

Could you please provide the versions of JetPack and nvidia-container-toolkit you have installed? As a temporary solution, you can manually replace --runtime nvidia with --gpus all in run_dev.sh, and then relaunch the Docker container.

5

Actually, have you followed the installation steps for VPI in the Jetson Setup for VPI — isaac_ros_docs documentation?
Just noticed that your error mentioned “nvidia.com/pva=all: unknown“.
You could reference more from this thread too.