Add NVIDIA-Isaac-ROS packages as additional recipes.

[TedVanderfeen]

I have been chatting with @Tobias-Fischer about this, but thought I may as well open a draft-PR to track progress/findings and get feedback for including additional recipes for https://github.com/NVIDIA-ISAAC-ROS packages.

What I have done so far is:

• Setup a python based scraper to collect and format package lists for both rosdistro_additional_recipes.yaml and vinca.yaml (This scraper and new .yaml files aren't intended to be merged, just included for testing/debugging)
• Added -DCMAKE_DEVICE=sbsa to pkg_additional_info.yaml and a manual cmake-auto dependency (not declared in the upstream package.xml) to patch/dependencies.yaml to try and get Isaac-ros-gxf to build on my linux-aarch64 machine.

Where I am at now: build currently failing with:

-- Configuring incomplete, errors occurred!
 │ │ CMake Error at CMakeLists.txt:34 (find_package):
 │ │   By not providing "Findvpi.cmake" in CMAKE_MODULE_PATH this project has
 │ │   asked CMake to find a package configuration file provided by "vpi", but
 │ │   CMake did not find one.
 │ │   Could not find a package configuration file provided by "vpi" with any of
 │ │   the following names:
 │ │     vpiConfig.cmake
 │ │     vpi-config.cmake
 │ │   Add the installation prefix of "vpi" to CMAKE_PREFIX_PATH or set "vpi_DIR"
 │ │   to a directory containing one of the above files.  If "vpi" provides a
 │ │   separate development package or SDK, be sure it has been installed.
 │ │ 
 │ │ × error Script failed with status 1
 │ │ × error 
 │ │ × error Script execution failed.
 │ │ × error 
 │ │ × error   Work directory: /home/spark1/repos/ros-jazzy/output/bld/rattler-build_ros-jazzy-isaac-ros-common_1774335692/work
 │ │ × error   Prefix: /home/spark1/repos/ros-jazzy/output/bld/rattler-build_ros-jazzy-isaac-ros-common_1774335692/host_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_plac
 │ │ × error   Build prefix: /home/spark1/repos/ros-jazzy/output/bld/rattler-build_ros-jazzy-isaac-ros-common_1774335692/build_env
 │ │ × error 
 │ │ × error To run the script manually, use the following command:
 │ │ × error 
 │ │ × error   cd "/home/spark1/repos/ros-jazzy/output/bld/rattler-build_ros-jazzy-isaac-ros-common_1774335692/work" && ./conda_build.sh
 │ │ × error 
 │ │ × error To run commands interactively in the build environment:
 │ │ × error 
 │ │ × error   cd "/home/spark1/repos/ros-jazzy/output/bld/rattler-build_ros-jazzy-isaac-ros-common_1774335692/work" && source build_env.sh
 │ │
 │ ╰─────────────────── (took 3 seconds)
 │
 ╰─────────────────── (took 6 seconds)
Error:   × Script failed to execute

This looks to be the NVIDIA Vision Programming Interface, which is typically bundled as a part of jetpack (and has no public source).

There's also some other issues what will need to be resolved that I've come across that aren't blocking the build:

• There are 195 new packages that add an additional ~980 lines to the rosdistro_additional_recipes.yaml file. Not a problem in and of itself, but adds a lot of bulk to that file and the vinca.yaml.
• Some packages and deps are not open source and only exist in binary/deb form (e.g. Isaac_ros_visual_mapping and the above
• Package names don't seem to follow a standard naming scheme (e.g. isaac_ros_*, gxf_isaac_*, custom_nitros_*), which might make these slightly annoying to find in the ros-jazzy channel/package list.

[TedVanderfeen]

Based on advice from Tobi, I'm going to attempt to repackage the dependencies that are currently causing the build to fail and focus on getting just Isaac_ros_common to build. Which means we'll need a new channel to publish these repackaged debs to.

robostack-isaac?

[TedVanderfeen]

Looking at the VPI SDK license, it states:

2.2  Except as expressly provided in this Agreement, you may not copy, sell,
     rent, sublicense, transfer, distribute, modify, or create derivative works
     of any portion of the SDK.

Which feels prohibitive to repackaging the VPI dependency...

[traversaro]

Looking at the VPI SDK license, it states:

2.2  Except as expressly provided in this Agreement, you may not copy, sell,
     rent, sublicense, transfer, distribute, modify, or create derivative works
     of any portion of the SDK.

Which feels prohibitive to repackaging the VPI dependency...

I think it may be worth to contact the conda-forge/cuda team, they may be helpful to package this in conda-forge (or at least explore the possibility internally).

[TedVanderfeen]

I used https://github.com/ruben-arts/pixi-ros (thanks Ruben) to generate a list of missing packages across the "main" NVIDIA-Isaac-ROS packages and repositories.

# The following packages were not found:
# ament_python = "*"
# cvcuda0-dev = "*"
# datacenter-gpu-manager = "*"
# deepstream-spark = "*"
# hawk_description = "*"
# iputils-ping = "*"
# isaac-ros-cli = "*"
# isaac_ros_visual_mapping = "*"
# libcudnn9-cuda-13 = "*"
# libgnat-23 = "*"
# libnvinfer10 = "*"
# libnvonnxparsers10 = "*"
# libnvvpi4 = "*"
# libucx0 = "*"
# ros-jazzy-magic-enum = "*"
# moveit2_tutorials = "*"
# negotiated = "*"
# ninja-build = "*"
# nlohmann_json = "*"
# nvsci = "*"
# nvv4l2 = "*"
# posix_ipc = "*"
# ros-jazzy-py-trees = "*"
# ros-jazzy-py-trees-ros = "*"
# ros-jazzy-py-trees-ros-viewer = "*"
# python3-cuda-python-pip-shim = "*"
# python3-cupy-cuda13x-pip-shim = "*"
# python3-gdown = "*"
# python3-hdbscan-pip-shim = "*"
# python3-onnx-pip-shim = "*"
# python3-onnxscript-pip-shim = "*"
# python3-paho-mqtt-pip-shim = "*"
# python3-rsl-rl-lib-pip-shim = "*"
# python3-setuptools-scm-pip-shim = "*"
# python3-torch-pip-shim = "*"
# python3-transformers-pip-shim = "*"
# python3-trimesh-pip-shim = "*"
# python3-warp-lang-pip-shim = "*"
# python3-yourdfpy-pip-shim = "*"
# ros-jazzy-robotiq-controllers = "*"
# tensorrt = "*"
# topic_based_ros2_control = "*"
# triton-server = "*"
# vpi4-dev = "*"

pixi.txt

A few of these do exist under a different name but there's definitely some in there that are also NVIDIA apt-only that will need repackaging (license permitting...)

[TedVanderfeen]

And the packages that depend on the missing deps above:
packages_missing_deps.yaml