Setup

1. Setup dev environment: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md, but change the ISAAC_ROS_WS variable as appropriate
2. Setup realsense: https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/realsense-setup.md
3. Inside the docker, run the realsense-viewer and make sure you are able to get images
4. Inside the docker, build the colcon_ws

cd /workspaces/isaac_ros-dev
colcon build --symlink-install
source ~/.bashrc

5. Change the launch script to avoid running apt-get update everytime you run ./scripts/run-dev.sh

6. change to my custom Dockerfile:

Useful other commands:

Restart docker:

sudo systemctl daemon-reload
sudo systemctl restart docker

Colcon build but in release mode:

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

it will take longer, and recompile everything that was not built in release mode, but it will make the runtime code much faster