ROS2 Humble for Ubuntu20.04 for ISAAC ROS Implementation

[kumar.abyukth]

Greetings,

I am using a Jetson Xavier with Jetpack 5.1.1 and Ubuntu 20.04 (focal). I noticed that versions of ROS2 earlier than Humble would not work for ISAAC ROS packages. I am trying to install ROS2 Humble on my Xavier board with Ubuntu 20.04. I would like to know if we can install ROS2 Humble on focal(20.04) version of Ubuntu? If so, can anyone give me the procedure to install ROS2 Humble on my device.

[hemals]

Ubuntu 20.04 (Focal) is a Tier 3 platform for ROS 2 Humble (compiles but not built by the Open Robotics buildfarm). We build ROS 2 Humble from source for you in our Isaac ROS Dev docker base images. You can use run_dev.sh from Isaac ROS Common to run a container on Focal with everything you need to run ROS 2 Humble on your AGX Xavier.

[youjianmin123]

Is thers any good ways to solve the dependencies of the other ros packages by apt install ?

[kumar.abyukth]

I am getting the following errors when I execute run_dev.sh with the same workspace as mentioned in the Isaac ROS Common.

[hemals]

Are you still getting this issue? You should not need to be logged into NGC to pull down the Isaac ROS Dev Base images but there could be transient errors.

[youjianmin123]

I meet the same problem before,you can pull the images before use run_dev.sh .

[kumar.abyukth]

@hemals I have found the reason behind this error. I was installing it in the xavier without an ssd hence the xavier went out of memory. I have mounted an ssd and transferred the docker Root to the ssd. I was able to build the run_dev.sh. But I am facing a different error as given below :

It says libcuda.so was not found.

I do not know why this is coming. The following are my observations. Maybe it can give you a better clarity on what has happened:

1. nvidia-container is not installing
   

   

2. I have installed jetpack5.1.1 using SDK Manager before I downloaded all the dependencies to the xavier kit. NVIDIA Container Runtime component under Jetson Runtime components has failed and the log is as follows:

sdk_manager_log.txt (5.7 KB)

3. I have created my workspace in the folder /ssd/workspaces/isaac_ros-dev/src/ - here /ssd is where the ssd memory is mounted. While running the script I have included the path to this workspace.

4. Docker image is present

Any idea why this error is coming?

[kumar.abyukth]

I was confused with other sources in order to install docker. When I installed all components in the SDK Manager for Jetpack 5.1.1(rev1) and followed the procedure to setup development environment according to the official git page, the run_dev.sh script was extracted successfully and the container opened without any issues.