Add dockerfile for Isaac Sim 4.5.0 (no ROS2 support yet)

Author: j3soon

.github/workflows/build-isaacsim-4-5-pip.yaml

@@ -0,0 +1,32 @@
+# Ref: https://docs.docker.com/build/ci/github-actions/
+name: Build Docker Image for Isaac Sim 4.5 (pip)
+
+on:
+  push:
+    branches:
+      - "master"
+    paths:
+      - .github/workflows/build-isaacsim-4-5-pip.yaml
+      - Dockerfile_isaacsim_4_5_pip
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./Dockerfile_isaacsim_4_5_pip
+          push: true
+          tags: ${{ secrets.DOCKERHUB_USERNAME }}/isaac-sim-pip:4.5

Dockerfile_isaacsim_4_5_pip

@@ -0,0 +1,32 @@
+FROM python:3.10
+
+# Ref: https://github.com/j3soon/docker-vulkan-runtime
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+RUN apt-get update && apt-get install -y \
+    libgl1 libglu1-mesa vulkan-tools \
+    && rm -rf /var/lib/apt/lists/*
+RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+{
+    "file_format_version" : "1.0.0",
+    "ICD": {
+        "library_path": "libGLX_nvidia.so.0",
+        "api_version" : "1.3.194"
+    }
+}
+EOF
+
+# Ref: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_python.html
+RUN pip install isaacsim[all]==4.5.0 --extra-index-url https://pypi.nvidia.com \
+    && pip install isaacsim[extscache]==4.5.0 --extra-index-url https://pypi.nvidia.com
+
+# Following Isaac Sim's warning message
+ENV OMNI_KIT_ACCEPT_EULA=YES
+ENV OMNI_KIT_ALLOW_ROOT=1
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.ros2_bridge/humble/lib
+
+# Reset entrypoint and command
+ENTRYPOINT []
+CMD ["/bin/bash"]

README.md

@@ -4,7 +4,7 @@
 
 Unofficial minimal dockerfile for Isaac Sim.
 
-This is often useful in scenarios when you are using a custom base image and want to install Isaac Sim in it.
+This is often useful in scenarios when you are using a custom base image and want to install Isaac Sim in it. In our case, we are using a custom base image for ROS2 and installing Isaac Sim in it.
 
 Prerequisites:
 - [NVIDIA Driver](https://ubuntu.com/server/docs/nvidia-drivers-installation)
@@ -19,17 +19,20 @@ Build or pull image:
 
 ```sh
 # build the preferred version
+docker build -f Dockerfile_isaacsim_4_5_pip -t j3soon/isaac-sim-pip:4.5 .
 docker build -f Dockerfile_isaacsim_4_2_pip -t j3soon/isaac-sim-pip:4.2 .
 docker build -f Dockerfile_isaacsim_4_1_pip -t j3soon/isaac-sim-pip:4.1 .
 docker build -f Dockerfile_isaacsim_4_0_pip -t j3soon/isaac-sim-pip:4.0 .
 # or pull the preferred version
+docker pull j3soon/isaac-sim-pip:4.5
 docker pull j3soon/isaac-sim-pip:4.2
 docker pull j3soon/isaac-sim-pip:4.1
 docker pull j3soon/isaac-sim-pip:4.0
 ```
 
 ```sh
 xhost +local:docker
+ISAAC_SIM_VERSION=4.2
 docker run --rm -it --runtime=nvidia --gpus all --network=host \
   -v ~/docker/isaac-sim-pip/cache/kit:/usr/local/lib/python3.10/site-packages/omni/cache:rw \
   -v ~/docker/isaac-sim-pip/cache/ov:/root/.cache/ov:rw \
@@ -44,7 +47,7 @@ docker run --rm -it --runtime=nvidia --gpus all --network=host \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
   -v $HOME/.Xauthority:/root/.Xauthority \
   -v /dev/shm:/dev/shm \
-  j3soon/isaac-sim-pip:4.2
+  j3soon/isaac-sim-pip:${ISAAC_SIM_VERSION}
 # in the container
 # For Isaac Sim 4.0 to 4.2, run:
 isaacsim omni.isaac.sim
@@ -63,6 +66,8 @@ ros2 topic list
 ros2 topic echo /clock
 ```
 
+> Please note that the ROS2 bridge is not working in Isaac Sim 4.5.0 yet. We're currently working on this issue.
+
 References:
 - [Python Environment Installation \| Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_python.html)
 - [`isaacsim` \| PyPI](https://pypi.org/project/isaacsim/#history)