isaac_demo

A combined set of demo working with Isaac SIM on a workstation and Isaac ROS on a NVIDIA Jetson AGX Orin

Hardware required

Workstation:

1. Internet connection
2. x86/64 machine
3. Install Ubuntu 20.04
4. NVIDIA Graphic card with RTX
5. Display
6. Keyboard and Mouse

NVIDIA Jetson:

1. NVIDIA Jetson AGX Orin
2. Jetpack 5.1.2

Tools:

1. Router
2. eth cables

Setup hardware

Before to start check you have all requirements and connect the driver following this image

It is preferable to connect workstation and the NVIDIA Jetson AGX Orin with a lan cable and not use WiFi.

Install

There are two steps to follow, Install FoxGlove and Install Isaac ROS

Follow:

• Install on Jetson
• Install on workstation

Install on NVIDIA Jetson Orin

Install on your NVIDIA Jetson Orin Jetpack 5+

After installation save IP address and hostname

Connect remotely

In this section you connect to your NVIDIA Jetson with a ssh connection, open a terminal an write

ssh <IP or hostname.local>

where IP is the of NVIDIA Jetson or hostname is the hostname of your board.

If you are connected the output from the terminal is:

Install Isaac Demo

Clone this repository and move to repository folder

git clone https://github.com/rbonghi/isaac_demo.git
cd isaac_demo

Add docker group to your user

sudo usermod -aG docker $USER && newgrp docker

Set the default nvidia runtime

You’re going to be building containers, you need to set Docker’s default-runtime to nvidia, so that the NVCC compiler and GPU are available during docker build operations. Add "default-runtime": "nvidia" to your /etc/docker/daemon.json configuration file before attempting to build the containers:

{
    "default-runtime": "nvidia",
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    }
}

Then restart the Docker service, or reboot your system before proceeding:

sudo systemctl restart docker

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