Create a ROS Noetic Container with ROS 1 Bridge

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

   mkdir -p ~/workspaces/ros1_ws/isaac_ros-dev/src && \
    cd ~/workspaces/ros1_ws/isaac_ros-dev/src && \
    git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git 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:

   mkdir -p ~/workspaces/ros1_ws/isaac_ros_1-dev/src && \
    cd ~/workspaces/ros1_ws/isaac_ros_1-dev/src && \
    git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_noetic_interfaces.git isaac_ros_noetic_interfaces && \
    git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros_bridge.git isaac_ros_nitros_bridge
   

   Note

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

3. Build the Noetic docker:

   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_bridge/docker/Dockerfile.ros1_noetic .