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Current Setup

Accurate snapshot of the workstation's Isaac Sim / ROS 2 / IsaacLab stack (February 2026).

System

Component Value
OS Ubuntu 24.04.3 LTS (upgraded from 22.04)
Kernel 6.8.0-100-generic
Desktop GNOME (X11 session on :0)
Shell zsh + oh-my-zsh + powerlevel10k
GPU NVIDIA RTX 3090 (24 GB VRAM)
NVIDIA Driver 580.126.09
CUDA 13.0
RAM 62 GB
Python (system) 3.12

Isaac Sim 5.1
Version 5.1.0 (pip)
Install isaacsim[all,extscache]==5.1.0 in conda env isaaclab
Launch conda activate isaaclab && isaacsim
Extensions 95+ first-party (isaacsim.*), 40+ deprecated shims (omni.isaac.*), 80+ cached Kit extensions
ROS 2 Bridge Enabled (bundled Jazzy libs)
Streaming Sunshine + Moonlight (NvFBC + NVENC)

Key Isaac Sim Extensions

  • ROS 2: isaacsim.ros2.bridge, isaacsim.ros2.sim_control, isaacsim.ros2.tf_viewer, isaacsim.ros2.urdf
  • Sensors: isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, isaacsim.sensors.rtx
  • Robots: isaacsim.robot.manipulators, isaacsim.robot.wheeled_robots, isaacsim.robot.surface_gripper
  • Motion: isaacsim.robot_motion.lula, isaacsim.robot_motion.motion_generation
  • Replicator: isaacsim.replicator.behavior, isaacsim.replicator.domain_randomization, isaacsim.replicator.synthetic_recorder
  • Asset Import: isaacsim.asset.importer.urdf, isaacsim.asset.importer.mjcf

Custom modifications (pip install)

  • FPS cap: 60 Hz (isaacsim.exp.full.kit -> rateLimitFrequency = 60)
  • Layout persistence: Auto-save on shutdown, auto-restore on startup (hooks in extension.py)
  • Launch wrapper: ~/bin/isaacsim-ros -- sets env vars for bundled ROS 2 bridge
  • Dock shortcut: ~/.local/share/applications/isaacsim-ros.desktop
  • ~/bin/ros2 -- wrapper that runs ros2 commands inside the Docker container with FastDDS UDP fix

Isaac Lab 2.3.2
Location ~/IsaacLab/
Conda Env isaaclab (Python 3.11)
PyTorch 2.7.0+cu128
isaacsim pip 5.1.0.0 (all sub-packages)

Activate: conda activate isaaclab

Editable packages: isaaclab 0.54.2, isaaclab_assets 0.2.4, isaaclab_tasks 0.11.12, isaaclab_rl 0.4.7, isaaclab_mimic 1.0.16, isaaclab_contrib 0.0.2.

ROS 2

No System ROS 2

No system ROS 2 on host. Previous ros-jazzy-desktop (295 packages) removed Feb 2026 -- conflicted with Isaac Sim's bundled Python 3.11 rclpy.

Component Where
Isaac Sim ROS 2 bridge Bundled in pip package (Python 3.11 rclpy + Jazzy libs). Launch via ~/bin/isaacsim-ros
ros2 CLI, foxglove-bridge Inside Isaac ROS Docker container
Isaac ROS packages Inside Isaac ROS Docker container

Docker / Isaac ROS
Docker 29.2.1
nvidia-container-toolkit 1.18.2 (CDI support)
NVIDIA runtime Registered
Container isaac_ros_dev_container (--network host, --runtime nvidia, --ipc host, --privileged)
Image isaac-ros-dev:latest (39.6 GB) — custom Dockerfile on top of NVIDIA base (38.8 GB)
Management docker-compose (~/workspaces/isaac_ros-dev/docker-compose.yml)

Packages installed in container

  • ros-jazzy-isaac-ros-apriltag -- GPU-accelerated AprilTag detection
  • ros-jazzy-isaac-ros-visual-slam -- cuVSLAM (visual SLAM)
  • ros-jazzy-isaac-ros-nvblox -- GPU 3D reconstruction
  • ros-jazzy-foxglove-bridge -- WebSocket bridge (port 8765, in base image)
  • ros-jazzy-foxglove-compressed-video-transport -- H.264 NVENC video encoding for Foxglove (H.265 doesn't work with browser decoding)
  • ros-jazzy-ffmpeg-encoder-decoder -- ffmpeg with NVENC support
  • ffmpeg -- CLI video tool

Auto-start services

  • foxglove-bridge on port 8765 (via 50-foxglove-bridge.sh entrypoint)
  • H.264 NVENC republisher (via 60-h264-republisher.sh entrypoint)

DDS cross-container fix

FastDDS SHM transport breaks between Isaac Sim (host) and container. UDP-only XML config baked into the image at /etc/fastdds_no_shm.xml. Set via: 

export FASTRTPS_DEFAULT_PROFILES_FILE=/etc/fastdds_no_shm.xml
Applied automatically by /etc/profile.d/fastdds-fix.sh (login shells) and explicitly in each entrypoint script.

Remote Access

Method Details
Sunshine + Moonlight NvFBC + NVENC, hardware streaming
Foxglove ws://workstation:8765 (bridge runs in Isaac ROS container)
Tailscale workstation.tailee9084.ts.net / 100.101.214.44

Missing Tools

  • uv -- not installed (needed for Isaac Sim MCP Server plan)