isaac_ros_custom_bringup

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isaac_ros_custom_bringup

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Custom bringup for isaac_ros packages

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isaac_ros_custom_bringup
========================

This repository contains a ROS 2 package (`isaac_ros_custom_bringup`) plus a small set of helper tools/docs used around Isaac ROS.
Content is grouped by Isaac ROS major release, with a few utilities that are useful regardless of ROS distro.

## Quick links

- Isaac ROS 3 (Humble): [isaac_ros_3/README.md](isaac_ros_3/README.md)
- Isaac ROS 4 (Jazzy): [isaac_ros_4/README.md](isaac_ros_4/README.md)
- Jetson Orin NVMe storage: [jetson_orin_storage/README.md](jetson_orin_storage/README.md)
- Jetson remote screen: [jetson_quick_remote_screen/README.md](jetson_quick_remote_screen/README.md)

## Repository layout

### `isaac_ros_3/` (ROS 2 Humble / Isaac ROS 3.x)

- Bringup launch graphs for perception pipelines that combine Isaac ROS packages without modifying upstream repos.
- Includes YOLOv8 inference and YOLOv8 → FoundationPose pipelines (including a variant that subscribes to a remote RealSense stream).
- Entry points are launch files under `isaac_ros_3/launch/` (e.g., YOLOv8-only and FoundationPose integration launches).
- Documentation and full end-to-end setup notes live in [isaac_ros_3/README.md](isaac_ros_3/README.md).

### `isaac_ros_4/` (ROS 2 Jazzy / Isaac ROS 4.x)

- A dev-image customization layer for Isaac ROS Manipulation + FoundationPose (Dockerfile + optional entrypoint hooks) to install tutorial packages and models.
- Versioned by Isaac ROS minor: `isaac_ros_4/4.4/` (recommended, Isaac ROS 4.4) down to `isaac_ros_4/4.0/` (legacy).
- Isaac ROS 4.4 renamed `isaac_manipulator` → `isaac_ros_manipulation`; the `4.4/` layer carries that rename through the image key, Dockerfile, bootstrap, and apt package, and bakes in the FoundationPose / RT-DETR / ESS packages for the Isaac Sim example.
- The `4.4/` layer activates with `isaac-ros activate --build-local` once the host is on `release-4.4`; FoundationPose models install via `isaac_ros_4/4.4/scripts/install_foundationpose_isaac_sim_models.sh`.
- Full usage and rationale are in [isaac_ros_4/README.md](isaac_ros_4/README.md).

### `jetson_quick_remote_screen/` (utility)

- Step-by-step guide to mirror/control the Jetson’s real `:0` desktop from an Ubuntu laptop using `x11vnc` + SSH port forwarding + TigerVNC.
- Convenience scripts `connect_thor.sh` and `connect_orin.sh` automate tunnel + `x11vnc` startup (both support `--ip` overrides).
- See [jetson_quick_remote_screen/README.md](jetson_quick_remote_screen/README.md) for prerequisites and troubleshooting.

### `jetson_orin_storage/` (utility)

- Orin-specific notes for using the 1 TB NVMe mounted at `/mnt/nova_ssd` for Docker, containerd, apt archives, `/usr/local`, temp directories, VS Code, downloads, and common caches.
- Extends NVIDIA’s official [Isaac ROS Jetson Storage Setup](https://nvidia-isaac-ros.github.io/getting_started/compute/jetson_storage.html) with the extra bind mounts and GNOME desktop cleanup used on this machine.
- See [jetson_orin_storage/README.md](jetson_orin_storage/README.md) for verification and cleanup commands.

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