Adding docker files

[JCarosella]

🎉 New feature

Closes https://github.com/Ekumen-OS/andino_isaac/issues/17

Summary

Adds a Dockerfile and scripts to create a Docker development environment for Isaac sim

Test it

Follow the new instructions added to the README in this PR

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[JCarosella]

A couple of things I'd like to discuss, we can open a thread for each one:

• ~I was not able to make it work with a non-root user. I was able to launch the container and run Isaac, but not the andino stack. Using a root user works fine, is this an option or do we want a non-root user?~

• ~The Isaac install path changes when using the Nvidia Isaac container. It is in fact simpler because the Isaac version is defined by the container and not by the install path. When installing locally the install path is ~/.local/share/ov/pkg/<ISAAC_VERSION>, but in the container the installation path is always /isaac-sim (the version is present in the base Docker image). The discussion: How to modify the launchfile to take into account a docker environment?~ EDIT: I went with an implementation of this in this commit. If it's a good approach the only thing remaining is the user

[JCarosella]

@francocipollone ready for review

[francocipollone]

@JCarosella I think it would be neat to have this PR in, so then we can bump to the new version of Isaac sim and see how the improvements in performance affect the sim :smiley:

[JCarosella]

@JCarosella I think it would be neat to have this PR in, so then we can bump to the new version of Isaac sim and see how the improvements in performance affect the sim 😃

Yes, I tried pulling the new 4.0.0 docker image but I wasn't able to. I'll take a look tomorrow and push this in

[francocipollone]

@JCarosella I think it would be neat to have this PR in, so then we can bump to the new version of Isaac sim and see how the improvements in performance affect the sim 😃

Yes, I tried pulling the new 4.0.0 docker image but I wasn't able to. I'll take a look tomorrow and push this in

We can tackle this in separate PRs. Probably going to 4.0.0 will need some minor changes regarding ros2 components.

[francocipollone]

I run it locally:

• There is a weird output when running run_isaac_workspace.sh

• Also rosdep update is missing to be done in the image.

• Then when I ros launch the simulation an error is shown:

  [python.sh-3] [9.711s] Simulation App Starting
  [python.sh-3] 2024-06-10 19:07:38 [9,720ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/ecoMode/enabled has been requested but is not available
  [python.sh-3] 2024-06-10 19:07:38 [9,721ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/directLighting/enabled has been requested but is not available
  [python.sh-3] 2024-06-10 19:07:38 [9,721ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/reflections/enabled has been requested but is not available
  [python.sh-3] 2024-06-10 19:07:38 [9,721ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/translucency/enabled has been requested but is not available
  [python.sh-3] 2024-06-10 19:07:38 [9,721ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/raytracing/subsurface/enabled has been requested but is not available
  [python.sh-3] 2024-06-10 19:07:38 [9,721ms] [Warning] [omni.kit.widget.settings.settings_model] a value for setting /rtx/caustics/enabled has been requested but is not available
  [python.sh-3] 2024-06-10 19:07:38 [9,757ms] [Warning] [omni.kvdb.plugin] wasn't able to load the meta database, trying to repair it ...
  [python.sh-3] 2024-06-10 19:07:38 [9,757ms] [Warning] [omni.kvdb.plugin] repair failed
  [python.sh-3] 2024-06-10 19:07:38 [9,758ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
  [python.sh-3] 2024-06-10 19:07:38 [9,758ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
  [python.sh-3] 2024-06-10 19:07:38 [9,758ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
  [python.sh-3] 2024-06-10 19:07:39 [9,767ms] [Warning] [omni.hydra.rtx] HydraEngine rtx failed creating scene renderer.
  [python.sh-3] 2024-06-10 19:07:39 [9,768ms] [Warning] [omni.hydratexture.plugin] rtx::raytracing::RaycastQueryManager is not available
  [python.sh-3] 2024-06-10 19:07:39 [9,783ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
  [python.sh-3] 2024-06-10 19:07:39 [9,783ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
  [python.sh-3] [9.823s] app ready
  [python.sh-3] 2024-06-10 19:07:39 [10,169ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
  [python.sh-3] 2024-06-10 19:07:39 [10,169ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
  [python.sh-3] 2024-06-10 19:07:39 [10,254ms] [Error] [rtx.neuraylib.plugin] Cannot find `Documents/Kit/shared` directory.
  [python.sh-3] 2024-06-10 19:07:41 [11,844ms] [Error] [asyncio] Task exception was never retrieved
  [python.sh-3] future: <Task finished name='Task-183' coro=<MaterialLibraryExtension.preload_base_material_subids() done, defined at /isaac-sim/kit/exts/omni.kit.material.library/omni/kit/material/library/material_library.py:479> exception=FileNotFoundError(2, 'No such file or directory')>
  [python.sh-3] Traceback (most recent call last):
  [python.sh-3]   File "/isaac-sim/kit/exts/omni.kit.material.library/omni/kit/material/library/material_library.py", line 537, in preload_base_material_subids
  [python.sh-3]     on_complete_fn()
  [python.sh-3]   File "/isaac-sim/kit/exts/omni.kit.material.library/omni/kit/material/library/material_library.py", line 406, in cache_built
  [python.sh-3]     with open(self._cache_filename, 'w') as file:
  [python.sh-3] FileNotFoundError: [Errno 2] No such file or directory: '/isaac-sim/kit/cache/Kit/105.1/b82c1e1e/material_cache.json'

[francocipollone]

The issue lais in the cache folder being bonded: I removed the following from the run script and it worked

-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \

[JCarosella]

The issue lais in the cache folder being bonded: I removed the following from the run script and it worked

-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \

@francocipollone Addressed this issue and the ones you mention above