Create a ROS Noetic Container with ROS 1 Bridge
=================================================


1.  Clone the ``isaac_ros_common`` repository and ``ros1_bridge`` under ROS 1 workspace:

    .. code:: bash

       mkdir -p ~/workspaces/ros1_ws/isaac_ros-dev/src && \
        cd ~/workspaces/ros1_ws/isaac_ros-dev/src && \
        git clone :ir_clone:`<isaac_ros_common>` && \
        git clone https://github.com/ros2/ros1_bridge

2.  Clone the ``isaac_ros_noetic_interfaces`` and ``isaac_ros_nitros_bridge`` repositories under the ROS 1 workspace:

    .. code:: bash

       mkdir -p ~/workspaces/ros1_ws/isaac_ros_1-dev/src && \
        cd ~/workspaces/ros1_ws/isaac_ros_1-dev/src && \
        git clone :ir_clone:`<isaac_ros_noetic_interfaces>` && \
        git clone :ir_clone:`<isaac_ros_nitros>`

    .. note::
       The ROS 1 packages within ``isaac_ros_nitros_bridge`` are excluded by ``COLCON_IGNORE``. In this Dockerfile, ``COLCON_IGNORE`` is automatically removed
       to build ROS 1 workspace. If you intend to build these packages in your own environment, ensure that you remove the ``COLCON_IGNORE`` file first.

3.  Build the ``Noetic`` Docker:

    .. code:: bash

        cd ~/workspaces && \
         docker build --build-arg USER_UID=$(id -u) --build-arg USER_GID=$(id -g) -t nitros_bridge -f ros1_ws/isaac_ros_1-dev/src/isaac_ros_nitros/isaac_ros_nitros_bridge/docker/Dockerfile.ros1_noetic .