ISSAC SDK on jetson tx2

how can we configure the host for jetson tx2 to be compatible with Issac sdk?
I want to make a serving robot based on object detection and path mapping, I have used Yolo v4 and rrt* for it but it is hard for me to link those two.
Now I want to implement the Issac computer vision based on a camera only to detect objects avoid them and plan their path.
I need some guidance for anyone type of help is appreciated.