Isaac ROS Dockerfile¶

FROM nvcr.io/nvidia/isaac/ros:noble-ros2_jazzy_<hash>-amd64

# Remove broken yarn repo from base image, add standard ROS 2 apt repo
RUN rm -f /etc/apt/sources.list.d/yarn.list \
    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
       -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" \
       > /etc/apt/sources.list.d/ros2.list

# Isaac ROS GPU perception + Foxglove H.264 + ffmpeg + teleop
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-jazzy-isaac-ros-apriltag \
    ros-jazzy-isaac-ros-visual-slam \
    ros-jazzy-isaac-ros-nvblox \
    ros-jazzy-foxglove-compressed-video-transport \
    ros-jazzy-ffmpeg-encoder-decoder \
    ros-jazzy-teleop-twist-keyboard \
    ros-jazzy-teleop-twist-joy \
    ffmpeg \
    && rm -rf /var/lib/apt/lists/*

# Create admin user
RUN useradd -m -s /bin/bash -G sudo admin \
    && echo "admin ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers

# FastDDS no-SHM XML (fixes host<->container DDS transport)
COPY fastdds_no_shm.xml /etc/fastdds_no_shm.xml

# Persistent env var for FastDDS fix (login shells)
RUN echo 'export FASTRTPS_DEFAULT_PROFILES_FILE=/etc/fastdds_no_shm.xml' \
    > /etc/profile.d/fastdds-fix.sh \
    && chmod +x /etc/profile.d/fastdds-fix.sh

# Foxglove-bridge auto-start entrypoint
COPY 50-foxglove-bridge.sh /usr/local/bin/scripts/entrypoint_additions/
RUN chmod +x /usr/local/bin/scripts/entrypoint_additions/50-foxglove-bridge.sh

# H.264 NVENC republisher auto-start entrypoint
COPY 60-h264-republisher.sh /usr/local/bin/scripts/entrypoint_additions/
RUN chmod +x /usr/local/bin/scripts/entrypoint_additions/60-h264-republisher.sh

# Teleop twist joy auto-start entrypoint (converts Joy → Twist on /cmd_vel)
COPY 70-teleop-twist-joy.sh /usr/local/bin/scripts/entrypoint_additions/
RUN chmod +x /usr/local/bin/scripts/entrypoint_additions/70-teleop-twist-joy.sh

WORKDIR /workspaces/isaac_ros-dev

services:
  isaac_ros:
    image: isaac-ros-dev:latest
    container_name: isaac_ros_dev_container
    runtime: nvidia
    network_mode: host
    ipc: host
    privileged: true
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - USERNAME=admin
    volumes:
      - /home/zeul/workspaces/isaac_ros-dev:/workspaces/isaac_ros-dev
    entrypoint: /usr/local/bin/scripts/workspace-entrypoint.sh
    command: bash -c "sleep infinity"

# Build (base image cached, only custom layer rebuilds ~30s)
cd ~/workspaces/isaac_ros-dev
docker build -t isaac-ros-dev:latest .

# Start
docker compose up -d

# Rebuild and restart in one command
docker compose up -d --build

# Attach
docker exec -it -u admin isaac_ros_dev_container bash

# Stop and remove
docker compose down