isaac_sdk_docker

Introduction

This is Dockerfile to use NVIDIA Isaac SDK on Docker container.

Requirements

• NVIDIA graphics driver >= 440.0
• Docker
• nvidia-docker2

Preparation

Download NVIDIA Isaac SDK

Please download NVIDIA Isaac SDK from https://developer.nvidia.com/isaac-sdk.
And, please put NVIDIA Isaac SDK in the same directory as the Dockerfile.
This time, I used the following package.

• isaac-sdk-20200527-0159e2bab.tar.xz
• isaac_sim_unity3d-20200527-a8205d23.tar.xz

Build Docker image

$ docker build -t isaac_sdk .

Create Docker container

$ ./launch_container.sh

Running sample application

Build sample application

$ cd ~/isaac_sdk
$ bazel build //apps/samples/stereo_dummy

Running sample application

$ bazel run //apps/samples/stereo_dummy

Open the visualization

Please open the visualization frontend by opening http://localhost:3000. in a browser.

Running IsaacSim and Carter navigation stack

Running IsaacSim

$ cd ~/isaac_sim_unity3d/builds
$ ./sample.x86_64 --scene small_warehouse -logFile -

Running Carter navigation stack

$ cd ~/isaac_sdk
$ bazel run //apps/navsim:navsim_navigate

Open the visualization

Please open the visualization frontend by opening http://localhost:3000 in a browser.

Reference

• https://developer.nvidia.com/isaac-sdk
• https://docs.nvidia.com/isaac/isaac/doc/index.html
• https://docs.nvidia.com/isaac/isaac/doc/getting_started.html#tutorials-and-sample-applications
• https://docs.nvidia.com/isaac/isaac/doc/simulation/unity3d.html#warehouse-navigation