my_docker

Collection of dockerfile and scripts related to ROS, PX4, UAV, etc.

Environment Setup

Before you begin, verify that you have sufficient storage space available on your device. We recommend at least 30 GB, to account for the size of the container and datasets.

1. On x86_64 platforms: Install the nvidia-container-runtime following https://github.com/NVIDIA/nvidia-container-runtime#installation.

2. Configure nvidia-container-runtime as the default runtime for Docker.

   Using your text editor of choice, add the following items by vim /etc/docker/daemon.json.

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

3. Then, restart Docker:

   sudo systemctl daemon-reload && sudo systemctl restart docker
   

4. Install Git LFS to pull down all large files:

    sudo apt-get install git-lfs
    git lfs install --skip-repo
   

5. Create a ROS 2 workspace for experimenting with Isaac ROS:

      mkdir -p  ~/workspaces/my_ros-dev
      echo "export MY_ROS_WS=${HOME}/workspaces/my_ros-dev/" >> ~/.bashrc
      source ~/.bashrc   
   

   We expect to use the MY_ROS_WS environmental variable to refer to this ROS 2 workspace directory, in the future.

To further customize your development environment, check out this guide.