Isaac Sim on Host (Native) and Isaac ROS in Docker

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hello,

I have Isaac ROS installed only inside a docker container on my host system (ubuntu 22.04, x86_64). I have installed Isaac Sim 4.5.0 natively on my host system using the following commands:

# Unarchive using Archive Utility in Ubuntu [email protected]+release.675.f1cca148.gl.linux-x86_64.release.zip
~/Downloads/[email protected]+release.675.f1cca148.gl.linux-x86_64.release$ ./omni.isaac.sim.compatibility_check.sh
mkdir ~/isaacsim
cd ~/Downloads
unzip "[email protected]+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim
cd ~/isaacsim
./post_install.sh
./isaac-sim.selector.sh

I also enabled the ros2 bridge and set the ROS_DOMAIN_ID=0 both on host and inside docker.

When I launch the sim on my host and then any isaac_sim example in docker, the example doesnt actually show up in the sim. I don’t even think that the two environments are connected / talk to each other. Please could someone help me?

I want to start fully using isaac_sim so that I can test and develop as most of the isaac_ros examples are using isaac_sim. I didn’t use omniverse because there is a warning that it will be deprecated from October.

Thank you.

2

Hi @rngujarathi

Thanks for your post.

If the ROS2 bridge is configured correctly, you shall be able to load & see the sample scene, the factory environment in the Isaac Sim app, according to Isaac Sim Setup under Isaac Sim 4.5.

If you are unable to load the sample scene, please check ROS and ROS 2 Installation. Or if you don’t install native ROS on your host system, you can try to launch using the commands below.

export isaac_sim_package_path=$HOME/isaacsim

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# Can only be set once per terminal.
# Setting this command multiple times will append the internal library path again potentially leading to conflicts
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$isaac_sim_package_path/exts/isaacsim.ros2.bridge/humble/lib

# Run Isaac Sim
$isaac_sim_package_path/isaac-sim.sh

If you are able to see sample scene, then you can try Tutorial for AprilTag Detection with Isaac Sim. And run RViz to visualize the AprilTag detections. Which you shall also see the scene.

Let me know if I help you.

Best,
Ahung