Installation

Please ensure that you are running CUDA 12.9.

NVIDIA VPI

Please add this to your apt package manager.

sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://airacingtech.github.io/isaac_ros/isaac_ros.gpg \
  | gpg --dearmor | sudo tee /etc/apt/keyrings/isaac_ros.gpg > /dev/null

echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/isaac_ros.gpg] https://airacingtech.github.io/isaac_ros ./" \
  | sudo tee /etc/apt/sources.list.d/isaac_ros.list

sudo apt update
sudo apt install libnvvpi3 vpi3-dev vpi3-samples

TensorRT 10

You need TensorRT 10.x minimum. Please install it here

sudo apt install \
  tensorrt \
  tensorrt-dev \
  libnvinfer-plugin-dev \
  libnvonnxparsers-dev

libnvTools

Please install the legacy NVTX.

sudo apt install libnvtoolsext1
sudo ln -s \
  /usr/lib/x86_64-linux-gnu/libnvToolsExt.so.1 \
  /usr/lib/x86_64-linux-gnu/libnvToolsExt.so

CVCUDA

Please install the development and library dependencies.

isaac_ros_gxf

Please run these commands inside of isaac_ros_gxf.

sudo apt install git-lfs
git lfs install
git lfs pull

tensorrt cmake

Please run these commands.

git clone https://github.com/tier4/tensorrt_cmake_module.git
cd tensorrt_cmake_module
cmake -S . -B build
sudo cmake --install build

cudnn cmake

git clone https://github.com/tier4/cudnn_cmake_module-release.git
cd cudnn_cmake_module-release
cmake -S . -B build
sudo cmake --install build

Redundant type specialization

There is a redundant type specialization within iron that conflicts with GCC type specialization. This can be fixed easily by commenting out the generic type specialization.

// /opt/ros/iron/rclcpp_action/rclcpp_action/types.hpp
template<>
struct less<rclcpp_action::GoalUUID>
{
  bool operator()(
    const rclcpp_action::GoalUUID & lhs,
    const rclcpp_action::GoalUUID & rhs) const
  {
    return lhs < rhs;
  }
};