Isaac ROS Buildfarm

The public ROS 2 apt repository does not provide ROS 2 Lyrical packages for Ubuntu 24.04 (Noble). NVIDIA builds the ROS 2 packages required by Isaac ROS for Noble and publishes them on the Isaac ROS Buildfarm CDN.

Keep this apt source enabled because it provides runtime dependencies for Isaac ROS packages during later apt-get install and rosdep install commands.

Setup

The NVIDIA Isaac ROS repository key is installed when you configure the Isaac ROS apt repository. Select the same CDN region that you selected in that section.

US CDN

k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
f="/etc/apt/sources.list.d/nvidia-isaac-ros-buildfarm.list"
sudo touch $f
s="deb [arch=$(dpkg --print-architecture) signed-by=$k] https://isaac.download.nvidia.com/isaac-ros/ubuntu/main noble main"
grep -qxF "$s" $f || echo "$s" | sudo tee -a $f

China CDN

k="/usr/share/keyrings/nvidia-isaac-ros.gpg"
f="/etc/apt/sources.list.d/nvidia-isaac-ros-buildfarm.list"
sudo touch $f
s="deb [arch=$(dpkg --print-architecture) signed-by=$k] https://isaac.download.nvidia.cn/isaac-ros/ubuntu/main noble main"
grep -qxF "$s" $f || echo "$s" | sudo tee -a $f

Configure the standard ROS 2 apt repository for distribution-independent development tools. This repository provides tools such as colcon and rosdep. It does not provide ROS 2 Lyrical packages for Noble.

sudo apt-get update
sudo apt-get install -y curl

ROS_APT_SOURCE_VERSION="1.2.0"
curl -fsSL -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

Install ROS 2 Lyrical

Update apt and inspect the ros-base candidate:

sudo apt-get update
apt-cache policy ros-lyrical-ros-base

Confirm that apt-cache policy reports a candidate from the Isaac ROS Buildfarm CDN before installing the package.

sudo apt-get install -y ros-lyrical-ros-base

Alternative ROS 2 Installation Profiles

To install ROS, RViz, demos, and tutorials, replace the ros-base installation above with:

sudo apt-get install -y ros-lyrical-desktop

To install the additional simulators and perception packages in the full desktop profile, use:

sudo apt-get install -y ros-lyrical-desktop-full

Install the ROS 2 development tools:

sudo apt-get install -y python3-colcon-common-extensions python3-rosdep

After installing ROS 2 Lyrical, return to the Isaac ROS CLI initialization to finish setting up your development environment.