This framework is using the Isaac Sim/Lab pipeline, with ROS2 and MoveIt. A docker container has to be built by using the NVIDIA docker environment. A detailed guide on how to do that is provided below.
The framework is entirely containerized. The host machine has basic requirements such as:
- Git
- Docker and Docker Compose. For their installation refer to Docker Installation
- Python 3.11 or higher
- CUDA and NVIDIA container toolkit
Ensure your system meets the System Requirements for running NVIDIA Isaac Sim.
Clone the workspace directory. It contains the whole Isaac Sim/lab environment and the ROS2 jazzy workspace:
git clone https://github.com/TassiF/softserve_assignment_ws.git
cd softserve_assignment_wsUsing the NVIDIA docker framework, we build the containers. The first one ('base') will install Isaac Sim while the second one ('ros2') will provide the ROS2 bridges. I have adjusted the docker compose files in order to build them both by only running:
sudo python3 docker/container.py start ros2which will pull the images and build the containers. To enter the ros2 container, run:
sudo python3 docker/container.py enter ros2where the working directory is already in the jazzy workspace.
From here, the packages can be built via ROS2. Please follow the guide in the related package manipulator_sim.
To stop the runninng container and empty the docker volumes, use:
sudo python3 docker/container.py stop ros2Finally remove the relative docker images using docker rmi <img_name>.
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For any issue in building and running the docker containers through the NVIDIA framework, refer to Container Installation.
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If plugin errors appear when launching Isaac Sim, it can be related to the installed version. Try installing a different one by changing the
ISAACSIM_VERSIONparameter in thedocker/.env.basefile. -
Sometimes, the gripper usd is not loaded properly. Re-launching the simulation should fix it.
The complete framework was tested on:
- Isaac Sim 6.0.1 with CUDA Version: 13.2
- Isaac Sim 5.1.0 with CUDA Version: 13.0
Tested using:
- CPU: 16 cores Intel(R) Core(TM) Ultra 7 255H
- GPU: NVIDIA RTX PRO 500 Blackwell Generation Laptop GPU" (6 GiB, sm_120, mempool enabled)
For further documentation related to the Isaac environment, refer to NVIDIA official website:
The Isaac Lab framework is released under BSD-3 License. Note that Isaac Lab requires Isaac Sim, which includes components under proprietary licensing terms. See the Isaac Sim license for information on Isaac Sim licensing.