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NVIDIA-ISAAC-ROS / isaac_ros_common

Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.
https://developer.nvidia.com/isaac-ros-gems
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How do I use an older version of the IsaacROSDev Container? #158

Open brettpac opened 20 hours ago

brettpac commented 20 hours ago

Hi @hemalshahNV In a recent set of application demos found here: https://github.com/robosoft-ai/nova_carter_sm_library/tree/main

A bug appeared with the upgrade to the latest version (11/5) of the IsaacROSDev Container. https://catalog.ngc.nvidia.com/orgs/nvidia/teams/isaac/containers/ros

I don't have a 100% clear vision of why the bug is occurring (the problem only affects a few states) but it seems to be related to the RMW implementation and the canceling of action servers. Other than the container upgrade, no changes were made to the codebase that would have caused the bug.

I normally launch the IRDC (IsaacROSDev Container) with the following command: ./src/isaac_ros_common/scripts/run_dev.sh -d ~/workspace/humble_ws/

How can I specify for the run_dev.sh to run the 9/30 container version? tag: nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_92060e94476d1fc5d11171f6ed37f110

Thank you,

hemalshahNV commented 20 hours ago

Interesting! We need to figure out what happened here with the latest ROS 2 Humble sync then.

You can forcefully move back by creating your own file called Dockerfile.x86_64.ros2_humble and having as its first line FROM: nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_92060e94476d1fc5d11171f6ed37f110. run_dev.sh/build_image_layers.sh will find this "composite key" Dockerfile first and run from there rather than try to calculate anything.