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MrDuartePTMrDuartePT
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issaclab: install on python env and update to 2.3.0
* That way the reinstall is skipped when recreating the container * Also allow to update isaacsim because the container use python3.10 by default * Update README.md * devcontainer: fix hooks scripts Signed-off-by: Gonçalo Negrier Duarte <gonegrier.duarte@gmail.com>
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‎.devcontainer/hooks/postCreate.sh‎

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@@ -27,16 +27,10 @@ if [ -h "$WORKSPACE_ROOT/rob_ws" ] && [ -h "$WORKSPACE_ROOT/trsa_ws" ]; then
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echo "source $WORKSPACE_ROOT/trsa_ws/install/setup.bash" >> ~/.bashrc
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fi
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if [ -d "/home/$USERNAME/isaac_ros-dev" ]; then
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ln -sf /home/$USERNAME/isaac_ros-dev "$WORKSPACE_ROOT/"
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mkdir -p /home/$USERNAME/isaac_ros-dev || continue
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echo "export ISAAC_ROS_WS=/home/$USERNAME/isaac_ros-dev" >> ~/.bashrc
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fi
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# Add useful allias
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echo 'alias ros2_cmake_pkg="ros2 pkg create --build-type ament_cmake"' >> ~/.bashrc
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echo 'alias ros2_python_pkg="ros2 pkg create --build-type ament_python"' >> ~/.bashrc
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# Something deleted the package indexes so we re-download them for convenience.
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sudo apt-get update
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sudo rosdep update
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rosdep update

‎.devcontainer/hooks/postStart.sh‎

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@@ -14,7 +14,16 @@ git config --global safe.directory "*"
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git submodule update --init --recursive
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# Ensure dependencies are installed.
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sudo rosdep install --ignore-src --from-path "/home/$USERNAME/rob_ws" -y
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sudo rosdep install --ignore-src --from-path "/home/$USERNAME/trsa_ws" -y
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sudo rosdep install --ignore-src --from-path "/home/$USERNAME/isaac_ros-dev" -y || continue
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sudo pip install -r "$WORKSPACE_ROOT/requirements.txt"
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rosdep install --ignore-src --from-path "/home/$USERNAME/rob_ws" -y
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rosdep install --ignore-src --from-path "/home/$USERNAME/trsa_ws" -y
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rosdep install --ignore-src --from-path "/home/$USERNAME/isaac_ros-dev" -y || continue
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pip install -r "$WORKSPACE_ROOT/requirements.txt"
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# Install IsaacLab and IsaacSim if isaac_ros-dev exist
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if [ -d "/home/$USERNAME/isaac_ros-dev" ]; then
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ln -sf /home/$USERNAME/isaac_ros-dev "$WORKSPACE_ROOT/"
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echo "export ISAAC_ROS_WS=/home/$USERNAME/isaac_ros-dev" >> ~/.bashrc
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echo "Installing Isaac Sim and Isaac Lab"
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$WORKSPACE_ROOT/.devcontainer/scripts/issaclab-pyenv.sh
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echo 'alias issacload="source ~/isaac_ros-dev/env_isaacsim/bin/activate"' >> ~/.bashrc
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fi

‎.devcontainer/scripts/issaclab-pyenv.sh‎

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#!/usr/bin/env bash
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#-------------------------------------------------------------------------------------------------------------
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# This script installs Isaac Sim and Isaac Lab using a Python virtual environment
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#-------------------------------------------------------------------------------------------------------------
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set -e
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echo ""
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echo "====================================================================="
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echo "Installing Isaac Sim + Isaac Lab Python Environment"
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echo "====================================================================="
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echo "Environment Path: isaac_ros-dev/env_isaacsim"
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echo "Python Version: 3.11"
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echo "---------------------------------------------------------------------"
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echo ""
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# --- Install Python and create venv ---
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if ! command -v python3.11 &> /dev/null; then
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sudo apt-get update -y && sudo apt-get install -y python3.11 python3.11-venv
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fi
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if [ -d "isaac_ros-dev/env_isaacsim" ]; then
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echo "Existing environment detected at isaac_ros-dev/env_isaacsim."
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echo "Skipping environment creation and package installation."
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echo ""
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echo "To activate later, run:"
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echo " source isaac_ros-dev/env_isaacsim/bin/activate"
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echo " or use the `issacload` alias"
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echo ""
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echo " Or, create that handy alias if dosent exit:"
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echo " echo 'alias issacload="source ~/isaac_ros-dev/env_isaacsim/bin/activate"' >> ~/.bashrc"
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echo "====================================================================="
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echo ""
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fi
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python3.11 -m venv isaac_ros-dev/env_isaacsim
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source isaac_ros-dev/env_isaacsim/bin/activate
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# Pip Install for Isaac Sim and Isaac Lab dependencies (you can edit the version)
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pip install --upgrade pip
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pip install isaaclab[isaacsim,all]==2.2.0 --extra-index-url https://pypi.nvidia.com
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pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu129
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pip install git+https://github.com/isaac-sim/rl_games.git@python3.11
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# --- Fancy End Banner ---
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echo ""
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echo "====================================================================="
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echo " Installation Complete!"
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echo "====================================================================="
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echo "Isaac Sim + Isaac Lab environment is ready to use."
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echo "Location: isaac_ros-dev/env_isaacsim"
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echo ""
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echo "To activate later, run:"
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echo " source isaac_ros-dev/env_isaacsim/bin/activate"
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echo " or use the `issacload` alias"
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echo ""
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echo " Or, create that handy alias if dosent exit:"
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echo " echo 'alias issacload="source ~/isaac_ros-dev/env_isaacsim/bin/activate"' >> ~/.bashrc"
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echo "====================================================================="
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echo ""

‎README.md‎

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@@ -47,6 +47,9 @@ There are two alias that can be used to create ros packages:
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- `ros2_cmake_pkg`: Create a Ros2 C/C++ package in the current directory
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- `ros2_python_pkg`: Create a Ros2 Python package in the current directory
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There also alias to auto-load the Isaac Sim and Issac Lab python envrioment, called `isaacload`
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This enviroment is only created `isaac_ros-dev` folder is mounted in the container, look at [`postCreate.sh`](./.devcontainer/hooks/postCreate.sh) and [`issaclab-pyenv.sh`](./.devcontainer/scripts/issaclab-pyenv.sh)
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### VS Code Tasks
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For developer convenience, some common tasks are present in [`tasks.json`](./.vscode/tasks.json). Use them by opening the Command Palette and typing `task`. The following tasks are available:

‎requirements.txt‎

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# Compose `requirements.txt` from ROS packages into here.
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# Example:
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# Install this one intel systems
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# Install this intel systems
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#--extra-index-url https://pytorch-extension.intel.com/release-whl/stable/xpu/us/
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#intel-extension-for-pytorch==2.6.10+xpu
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#oneccl_bind_pt==2.6.0+xpu
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torch
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torchvision
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torchaudio
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ultralytics
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numpy<2
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kconfiglib
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pyros-genmsg
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future
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# For issaclab and issacsim (optional)
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#--extra-index-url https://pypi.nvidia.com
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#isaaclab[isaacsim,all]==2.1.0
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#isaacsim[all,extscache]==4.5.0
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future

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