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Customizing Dockerfiles and the Isaac ROS Docker Container

Change the Config Image Key

Providing a value to the $CONFIG_IMAGE_KEY variable in isaac_ros_common/scripts/.isaac_ros_common-config before running the isaac_ros_common/scripts/run_dev.sh script allows you to select a different base image upon which to build the Isaac ROS layers.

For example, you may wish to bundle a dependency for the RealSense camera as part of the base Docker image. The isaac_ros_common/docker/realsense-dockerfile-example folder contains an example setup:

  • Associated shell scripts from JetsonHacks that prepare build on aarch64 and ROS2 Humble
  • Dockerfile.realsense that invokes the shell scripts
  • .isaac_ros_common-config that specifies the new value of $CONFIG_IMAGE_KEY to point to the new Dockerfile

    NOTE: This configuration file must be moved to isaac_ros_common/scripts/ for it to be used while running run_dev.sh

Please see this section for additional details.