Hello. I need to be able to use Isaac Ros on a Jetson Orin Nano for a robot that will not be connected to the internet. While connected to the internet, using docker I have been able to successfully build isaac ros packages, but this requires rosdep install statements for most of the packages, so I’m trying to save the docker after I run all my rosdep install statements so I can use the docker offline. docker_deploy.sh works successfully, but when I run the image and give it the ls command, it output the directories bin, boot, ceres-solver, dev, etc… with no “workspaces” directory, so it seems like maybe I didn’t save the docker correctly. I know it is possible to pass a launch file from one of the packages, but I have my own launch file I’m trying to run that isn’t from any of these packages. Since specifying the launch file name requires also specifying the package, I have been unable to figure out how to pass my custom launch file as a parameter to docker_deploy.sh. Any help on this would be greatly appreciated.
Hi @noahsookraj
Welcome to the Isaac ROS forum. If you want to work with Isaac ROS without an internet connection, you need only first time to download the docker image and deploy a new image with all dependencies and your launch file if needed.
Please follow the documentation:
| Arg | Long argument | Default | Description |
|---|---|---|---|
-b |
--skip_image_build |
0 (do not skip image build) |
Avoids building the base image to reuse the existing image if one exists. Useful for running offline after base image has been built once already. |
The docker deploys copy inside the docker image in the install folder already on your machine.
In some of my personal tests, I made another layer instead of using docker_deploy to have more versatility when I build the image.
You can see an example here: nanosaur/nanosaur/docker/Dockerfile.nanosaur at nanosaur2 · rnanosaur/nanosaur · GitHub
And the build script: nanosaur/nanosaur/docker/docker_build_isaac_ros.sh at nanosaur2 · rnanosaur/nanosaur · GitHub where I only use build_image_layers.sh
Best,
Raffaello