[Isaac Sim] Segmentation fault and ROS2 bridge failure with Docker (2022.2.1 to 5.1.0)

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Hi NVIDIA dev team,

I am currently working on setting up Isaac Sim inside a Docker container on an Ubuntu 24.04 host (RTX A5000 GPU, Driver 580.173.02). I am trying to connect Isaac Sim to ROS 2 Jazzy on the host, but I am encountering persistent issues.

What I have done:

  1. Initially used nvcr.io/nvidia/isaac-sim:2022.2.1. The GUI works fine, but when I enable ROS2 HUMBLE BRIDGE in the Extensions, I get a Segmentation fault and the error: Error getting RMW implementation identifier / RMW implementation not installed.
  2. I suspect the crash is due to the ROS version mismatch (Foxy inside the container vs. Jazzy on the host). To fix this, I tried building a custom image based on ubuntu22.04 and copying the local standalone Isaac Sim (likely 5.1.0) into the image, while installing ros-humble-ros-base inside.
  3. However, the custom build fails with pull access denied for nvidia/cuda (even after switching to nvcr.io sources).

Logs & Errors:
(Please copy and paste your terminal output and the crash logs here. The crash logs show [Fatal] [carb.crashreporter-breakpad.plugin] and Segmentation fault (core dumped))

Detailed questions:

  1. Is there a known workaround for the ROS2 bridge Segfault in Isaac Sim 2022.2.1 inside Docker?
  2. For the custom build, what is the correct base image to use for Isaac Sim 5.1.0 that supports ROS2 Humble? I encountered pull access denied on both nvidia/cuda and nvcr.io/nvidia/cuda.
  3. Has anyone successfully run ROS2 Humble/Jazzy communication with Isaac Sim 5.1.0 in a Docker container?

Thanks in advance for your help!

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Isaac Sim Version

6.0.1
6.0.0
5.1.0
5.0.0
4.5.0
4.2.0
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2023.1.1
2023.1.0-hotfix.1
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Ubuntu 24.04
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3

Hi @1094830205 ! Our latest Isaac Sim is 6.0.1. May I know why you want to use Isaac Sim 5.1.0?