- Setup dev environment: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md, but change the ISAAC_ROS_WS variable as appropriate
- Setup realsense: https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/realsense-setup.md
- Inside the docker, run the
realsense-viewer
and make sure you are able to get images - Inside the docker, build the
colcon_ws
cd /workspaces/isaac_ros-dev
colcon build --symlink-install
source ~/.bashrc
-
Change the launch script to avoid running
apt-get update
everytime you run./scripts/run-dev.sh
-
change to my custom Dockerfile:
Restart docker:
sudo systemctl daemon-reload
sudo systemctl restart docker
Colcon build but in release mode:
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
it will take longer, and recompile everything that was not built in release mode, but it will make the runtime code much faster