I have a Isaac Sim Container and a ROS2 Container (foxy) that needs to communicate over the ros2 bridge. Unfortunately, it is still not working also after following all tutorials, forum entries and so on.
For testing, I am using a simple Lidar Sensor that publishes a topic to /laser_scan. The ROS_DOMAIN_ID is set in the Omnigraph node for the ros2 context (output is 0?) and the in the ros2 container, it is set as well using export ROS_DOMAIN_ID=12.
Starting the isaac sim container like following:
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host -v /usr/share/vulkan/icd.d/nvidia_icd.json:/etc/vulkan/icd.d/nvidia_icd.json -v /usr/share/vulkan/implicit_layer.d/nvidia_layers.json:/etc/vulkan/implicit_layer.d/nvidia_layers.json -v /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw -v ~/docker/isaac-sim/config:/root/.nvidia-omniverse/config:rw -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw -v ~/docker/isaac-sim/documents:/root/Documents:rw -v /dev/shm:/dev/shm nvcr.io/nvidia/isaac-sim:2022.2.0
and the ros container:
docker run -it --rm --network=host -v /dev/shm:/dev/shm ros_container:setup
Is the ros2 bridge feature working in the container or not?
Additional to my question:
I noticed that Isaac Sim on my workstation is not launching anymore, it seems to stuck at the startup. Is this a known issue?
Isaac-Sim Version: 2022.2.0
NVIDIA driver: 510.108.03
If you need any further information, just tell me. I would be very glad, if you can help me with the issues!
Thank you in advance.