Tutorial Issac application opencv_edge_detection fails to connect to Isaac Sim

I’m not able to follow the “Building Isaac Applications” tutorial at step “Start Unity3D”: Building Isaac Applications — ISAAC 2021.1 documentation . Below is what I tried.

The tutorial starts the simulator by running a builds/sample.x86_64 executable:

bob@desktop:~/isaac_sim_unity3d$ cd builds
bob@desktop:~/isaac_sim_unity3d/builds$ ./sample.x86_64 --scene small_warehouse

I can find several build directories, but can’t find any sample.x86_64 executable:

alan@alan-MS-7D25:~/.local/share/ov/pkg$ find . -name "build"
./isaac_sim-2021.1.0/kit/python/lib/python3.7/site-packages/pip/_internal/operations/build
./isaac_sim-2022.1.0/kit/python/lib/python3.7/site-packages/pip/_internal/operations/build
./isaac_sim-2022.1.0/kit/data/Kit/Isaac-Sim/2022.1/pip3-envs/default/pip/_internal/operations/build
alan@alan-MS-7D25:~/.local/share/ov/pkg$ find . -name "sample.x86_64"
alan@alan-MS-7D25:~/.local/share/ov/pkg$ 

I think this tutorial uses an old version of Isaac Sim per the copyright tag © Copyright 2018-2020, NVIDIA Corporation. But Omniverse launcher only has 2021 and 2022 versions of Isaac Sim, which I can use.

So I started the simulator through Omniverse launcher and Isaac Sim UI and manually added references of the USDs and clicked play (I can’t find asset small_warehouse so I used warehouse_multiple_shelves instead):

robot usd: omniverse://localhost/NVIDIA/Assets/Isaac/2022.1/Isaac/Robots/Carter/carter_v2.usd
enrionment usd: omniverse://localhost/NVIDIA/Assets/Isaac/2022.1/Isaac/Environments/Simple_Warehouse/warehouse_multiple_shelves.usd

Then I started the Isaac SDK docker and the Isaac application using

alan@alan-MS-7D25:~/isaac$ docker run --network=host --device=/dev/video0 --mount source=isaac-sdk-build-cache,target=/root -v `pwd`:`pwd` -w `pwd`/sdk --runtime=nvidia -it isaacbuild:latest /bin/bash
root@alan-MS-7D25:/home/alan/isaac/sdk# bazel run //apps/tutorials/opencv_edge_detection:opencv_unity3d

and the command line shows the app failed to connect to the simulator at localhost:55000:

2022-06-16 22:13:11.530 INFO  packages/engine_tcp_udp/components/TcpPublisher.cpp@71: Starting TCP publisher on port 55001
2022-06-16 22:13:11.530 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.interface/input' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.530 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.interface/output' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.530 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.interface/time_sync' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.530 INFO  packages/engine_tcp_udp/components/TcpSubscriber.cpp@133: TCP receiver trying to connect to remote (localhost:55000)...
2022-06-16 22:13:11.530 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.noisy_flatscan_1.flatscan_noiser/Random' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.530 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.noisy_flatscan_2.flatscan_noiser/Random' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.531 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.noisy_flatscan_3.flatscan_noiser/Random' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.531 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'simulation.noisy_flatscan_4.flatscan_noiser/Random' was not added to scheduler because no tick method is specified.
2022-06-16 22:13:11.531 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.
2022-06-16 22:13:11.536 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-06-16 22:13:11.536 WARN  packages/navsim/components/ScenarioManager.cpp@32: No scene specified. The default one loaded by navsim will be used.
2022-06-16 22:13:11.536 DEBUG external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@40: Stopping node 'simulation.scenario_manager' because it reached status 'SUCCESS'
2022-06-16 22:13:12.031 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.
2022-06-16 22:13:12.531 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.
2022-06-16 22:13:13.031 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.
2022-06-16 22:13:13.531 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.
2022-06-16 22:13:14.031 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.
2022-06-16 22:13:14.531 WARN  packages/engine_tcp_udp/components/TcpSubscriber.cpp@158: Failed to connect to remote. Will try again in 0.500000 seconds.

Does this mean the simulator is not publishing on localhost:55000 ? Can anyone help me figure out how to connect this Isaac app to Isaac sim?