===========================
Developer Environment Setup
===========================

The development flow currently supported by Isaac ROS is to build on your target platform. You can setup ROS 2 Humble in your host machine with the :doc:`Isaac ROS Buildfarm <isaac_ros_buildfarm_cdn>` and setup dependencies with ``rosdep``
OR you can use the Isaac ROS Dev Docker-based development environment through ``run_dev.sh``.

We **strongly** recommend that you set up your :doc:`developer environment <dev_env_setup>` with Isaac ROS Dev Docker images.
This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms.
Working within the Isaac ROS Dev Docker containers will also automatically give you access to our :doc:`Isaac ROS Buildfarm <isaac_ros_buildfarm_cdn>`.

.. note::

   All Isaac ROS Quickstarts, tutorials, and examples have been designed with the **Isaac ROS Docker images** as a prerequisite.


For more information on the Isaac ROS Dev Docker-based development environment and how to customize it for your needs, check out :doc:`this guide </repositories_and_packages/isaac_ros_common/index>`.

.. note::

   Before you begin, verify that you have sufficient storage
   space available on your device. We recommend at least **30 GB**, to
   account for the size of the container and datasets.

   On Jetson platforms, NVMe SSD storage is **required** for
   sufficient and fast storage. See :doc:`here </getting_started/hardware_setup/compute/jetson_storage>`

1. **On x86_64 platforms**: 

   1. Install the ``nvidia-container-toolkit`` using the
      `instructions <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#installing-with-apt>`__.

   2. Configure ``nvidia-container-toolkit`` for Docker using the
      `instructions <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#configuring-docker>`__.

   **On Jetson platforms**: Follow :doc:`this instruction </getting_started/hardware_setup/compute/jetson_storage>`
   to first set your Jetson up with SSD, then come back to this document and resume from Step 2.

2. Restart Docker:

   .. code:: bash

      sudo systemctl daemon-reload && sudo systemctl restart docker

3. Install `Git LFS <https://git-lfs.github.com/>`__ to pull
   down all large files:

   .. code:: bash

      sudo apt-get install git-lfs

   .. code:: bash

      git lfs install --skip-repo

4. Create a ROS 2 workspace for experimenting with Isaac ROS:

      **For Jetson setup with SSD as optional storage**:

      .. code:: bash

         mkdir -p  /ssd/workspaces/isaac_ros-dev/src
         echo "export ISAAC_ROS_WS=/ssd/workspaces/isaac_ros-dev/" >> ~/.bashrc
         source ~/.bashrc

   .. code:: bash

      mkdir -p  ~/workspaces/isaac_ros-dev/src
      echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
      source ~/.bashrc

   We expect to use the ``ISAAC_ROS_WS`` environmental variable
   to refer to this ROS 2 workspace directory, in the future.


To further customize your development environment, check out :ref:`this guide <repositories_and_packages/isaac_ros_common/index:Isaac ROS Docker Development Environment>`.


Troubleshooting
---------------

Check out our :doc:`troubleshooting </troubleshooting/dev_env>` section for issues with setting up your development environment.