Jetpack 6 vpi3 Issue With run_dev.sh

Hi There!

When I try to build the isaac_ros_common package from within the container started by run_dev.sh, I get the following error:

CMake Error at CMakeLists.txt:31 (find_package):
  By not providing "Findvpi.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "vpi", but
  CMake did not find one.

  Could not find a package configuration file provided by "vpi" with any of
  the following names:

    vpiConfig.cmake
    vpi-config.cmake

  Add the installation prefix of "vpi" to CMAKE_PREFIX_PATH or set "vpi_DIR"
  to a directory containing one of the above files.  If "vpi" provides a
  separate development package or SDK, be sure it has been installed.

(built with the command colcon build --packages-up-to isaac_ros_common)

Looking at that error message, I figured the container must not have access to whatever directory vpi's .cmake file lives in, so I did some poking around. I noticed that lines 172 and 173 of run_dev.sh mount the volume containing the vpi library--but are mounting directories for vpi2.

DOCKER_ARGS+=("-v /opt/nvidia/vpi2:/opt/nvidia/vpi2")
DOCKER_ARGS+=("-v /usr/share/vpi2:/usr/share/vpi2")

We are currently using an AGX Orin with Jetpack 6--which it seems comes with vpi3 installed. Therefore, those directories mounted above don't exist on Jetpack 6 (unless we screwed something up along the way--quite possible lol).

When I update those paths to

DOCKER_ARGS+=("-v /opt/nvidia/vpi3:/opt/nvidia/vpi3")
DOCKER_ARGS+=("-v /usr/share/vpi3:/usr/share/vpi3")

it builds like a charm. I should also note, though, that the /usr/share/vpi3 directory doesn't actually exist on the host OS--so not sure why that wouldn't matter here but...

In any case: Does it look like our jetpack installation is somehow screwed up, or is this a problem that needs addressed for the run_dev.sh script?

NVIDIA-ISAAC-ROS / isaac_ros_common

Jetpack 6 vpi3 Issue With run_dev.sh #120