Merge pull request #19 from NVIDIA-ISAAC-ROS/release-4.5

Isaac ROS 4.5

Author: chengronglai

.gitignore

@@ -6,3 +6,4 @@ debian/*.substvars
 debian/*.debhelper.log
 debian/*-stamp
 debian/files
+.docker-deb-overrides/

Makefile

@@ -12,21 +12,29 @@ PACKAGE_NAME := isaac-ros-cli
 
 # Convenience variable for the built .deb (lives one dir up when using dpkg-buildpackage)
 DEB_GLOB := ../$(PACKAGE_NAME)_*.deb
+DOCKER_DEB_OVERRIDE_DIR := .docker-deb-overrides
+SYSTEM_DOCKER_DEB_OVERRIDE_DIR := /etc/$(PACKAGE_NAME)/$(DOCKER_DEB_OVERRIDE_DIR)
 
-.PHONY: help all build upload clean distclean release print-deb
+.PHONY: help all build install test upload clean distclean release print-deb clear-docker-overrides
 
 help:
 	@echo "Targets:"
 	@echo "  make build           - Build Debian package (.deb)"
+	@echo "  sudo make install    - Install built Debian and stage it as Docker override"
+	@echo "  make test            - Run Python CLI unit tests"
 	@echo "  make build-stamped   - Build Debian package (.deb) with timestamped version"
 	@echo "  make timestamp       - Append timestamp suffix to debian/changelog"
 	@echo "  make clean           - Remove staged packaging artifacts inside debian/"
 	@echo "  make distclean       - Clean and remove built files in parent dir"
 	@echo "  make print-deb       - Print the path to the built .deb (expects exactly one)"
+	@echo "  sudo make clear-docker-overrides - Remove Docker Debian overrides"
 	@echo ""
 
 all: build
 
+test:
+	PYTHONPATH=src python3 -m unittest discover -s tests -t . -v
+
 timestamp:
 	@set -e; \
 	timestamp=$$(date +%Y%m%d%H%M%S); \
@@ -39,6 +47,32 @@ build:
 	DEB_BUILD_OPTIONS=nocheck dpkg-buildpackage -us -uc -b
 	@echo "Build complete. Use 'make print-deb' to locate the .deb file."
 
+install:
+	@set -e; \
+	if [ -n "$(DESTDIR)" ]; then \
+		echo "Skipping host install during Debian package staging."; \
+		exit 0; \
+	fi; \
+	if [ "$$(id -u)" -ne 0 ]; then \
+		echo "Error: 'make install' must be run as root. Use 'sudo make install'." 1>&2; \
+		exit 1; \
+	fi; \
+	deb="$$( $(MAKE) --no-print-directory -s print-deb )"; \
+	echo "Installing host package from $$deb..."; \
+	apt-get install -y "$$deb"; \
+	mkdir -p "$(DOCKER_DEB_OVERRIDE_DIR)"; \
+	rm -f "$(DOCKER_DEB_OVERRIDE_DIR)"/$(PACKAGE_NAME)_*.deb; \
+	cp "$$deb" "$(DOCKER_DEB_OVERRIDE_DIR)/"; \
+	if [ -n "$${SUDO_UID:-}" ] && [ -n "$${SUDO_GID:-}" ]; then \
+		chown -R "$$SUDO_UID:$$SUDO_GID" "$(DOCKER_DEB_OVERRIDE_DIR)"; \
+	fi; \
+	mkdir -p "$(SYSTEM_DOCKER_DEB_OVERRIDE_DIR)"; \
+	rm -f "$(SYSTEM_DOCKER_DEB_OVERRIDE_DIR)"/$(PACKAGE_NAME)_*.deb; \
+	cp "$$deb" "$(SYSTEM_DOCKER_DEB_OVERRIDE_DIR)/"; \
+	echo "Staged source-local Docker Debian override: $(DOCKER_DEB_OVERRIDE_DIR)/$$(basename "$$deb")"; \
+	echo "Staged Docker Debian override: $(SYSTEM_DOCKER_DEB_OVERRIDE_DIR)/$$(basename "$$deb")"; \
+	echo "Docker builds driven by the installed CLI will use this override until it is cleared."
+
 build-stamped:
 	cp debian/changelog debian/changelog.original
 	make timestamp
@@ -57,7 +91,18 @@ print-deb:
 clean:
 	@echo "Removing staged packaging artifacts under debian/..."
 	rm -rf debian/$(PACKAGE_NAME) debian/*.debhelper debian/*.substvars debian/debhelper-build-stamp debian/files
+	rm -rf $(DOCKER_DEB_OVERRIDE_DIR)
 
 distclean: clean
 	@echo "Removing built artifacts in parent directory (if any)..."
 	rm -f ../$(PACKAGE_NAME)_*.deb ../$(PACKAGE_NAME)_*.buildinfo ../$(PACKAGE_NAME)_*.changes
+
+clear-docker-overrides:
+	@rm -rf $(DOCKER_DEB_OVERRIDE_DIR)
+	@if [ "$$(id -u)" -eq 0 ]; then \
+		rm -rf "$(SYSTEM_DOCKER_DEB_OVERRIDE_DIR)"; \
+		echo "Removed source-local and system Docker Debian overrides."; \
+	else \
+		echo "Removed source-local Docker Debian overrides."; \
+		echo "Run 'sudo make clear-docker-overrides' to also remove $(SYSTEM_DOCKER_DEB_OVERRIDE_DIR)."; \
+	fi

README.md

@@ -17,8 +17,16 @@ isaac-ros --help
 # Initialize environment (pick a mode)
 sudo isaac-ros init <docker|venv|baremetal>
 
+# Show configured mode and current activation state
+isaac-ros status
+isaac-ros status --output json
+
 # Activate environment
 isaac-ros activate
+
+# Override config keys for one invocation (see config/config.yaml for available keys)
+isaac-ros activate --config docker.run.container_name=foo
+isaac-ros activate --config docker.run.container_name=foo -c docker.run.platform=x86_64
 ```
 
 ## Rebuilding Debian Package

config/.build_image_layers.yaml

@@ -1,5 +1,5 @@
 image_key_order:
-  - isaac_ros.noble.ros2_jazzy.realsense.nova_carter
+  - isaac_ros.noble.ros2_jazzy.realsense.gr00t_workflow.ur_manipulation.mega_manipulation.nova_carter
 context_overrides:
   isaac_ros: ..
   noble: ..

config/config.yaml

@@ -13,3 +13,9 @@ docker:
     platform: auto
     use_cached_build_image: false
 
+apt:
+  key_url: https://isaac.download.nvidia.com/isaac-ros/repos.key
+  repository: https://isaac.download.nvidia.com/isaac-ros/release-4.5
+  distro: noble
+  components:
+    - main

config/pip_shim_constraints.txt

@@ -119,7 +119,7 @@ flake8-import-order==0.18.2
 flake8-quotes==3.4.0
 fonttools==4.61.0
 frozenlist==1.8.0
-fsspec==2025.12.0
+fsspec==2025.3.0
 generate-parameter-library-py==0.5.0
 geographic-msgs==1.0.6
 geometry-msgs==5.3.6
@@ -143,6 +143,7 @@ importlib_metadata==8.5.0
 importlib_resources==6.5.2
 iniconfig==1.1.1
 interactive-markers==2.5.5
+isaacteleop==1.3.55rc1
 Jinja2==3.1.6
 jmespath==1.0.1
 joblib==1.5.2
@@ -245,14 +246,14 @@ opentelemetry-sdk==1.28.1
 opentelemetry-semantic-conventions==0.49b1
 orjson==3.11.7
 osrf-pycommon==2.1.7
-packaging==24.0
+packaging==24.2
 paho-mqtt==1.6.1
 pal-statistics==2.7.0
 pal-statistics-msgs==2.7.0
 pandas==2.3.3
 paramiko==2.12.0
 patiencediff==0.2.13
-pillow==10.2.0
+pillow==12.2.0
 platformdirs==4.5.1
 pluggy==1.4.0
 posix_ipc==1.3.2
@@ -275,7 +276,7 @@ pydocstyle==6.3.0
 pydot==1.4.2
 pyflakes==3.2.0
 PyGithub==2.2.0
-Pygments==2.19.2
+Pygments==2.20.0
 PyGObject==3.48.2
 PyJWT==2.7.0
 pymongo==4.15.5
@@ -407,7 +408,7 @@ sympy==1.14.0
 tabulate==0.9.0
 tensordict==0.11.0
 tensorrt==10.13.3.9
-termcolor==1.1.0
+termcolor==2.4.0
 textual==6.8.0
 tf2-geometry-msgs==0.36.16
 tf2-kdl==0.36.16
@@ -422,7 +423,8 @@ tifffile==2025.10.16
 tokenizers==0.22.1
 torch==2.9.0+cu130
 torchmetrics==1.8.2
-torchvision==0.24.0+cu130
+torchvision==0.24.0+cu130; platform_machine != "aarch64" and platform_machine != "arm64"
+torchvision==0.24.0; platform_machine == "aarch64" or platform_machine == "arm64"
 tornado==6.4
 tqdm==4.67.1
 trajectory-msgs==5.3.6
@@ -440,7 +442,7 @@ ujson==5.9.0
 unattended-upgrades==0.1
 unidiff==0.7.3
 unique-identifier-msgs==2.5.0
-urllib3==2.6.1
+urllib3==2.7.0
 vcstool==0.3.0
 vcstools==0.1.42
 vhacdx==0.0.10

debian/changelog

@@ -1,3 +1,11 @@
+isaac-ros-cli (2.4.0-1) noble; urgency=low
+
+  * Add config schema validation, command-line overrides, and the `isaac-ros status` command.
+  * Improve Docker activation, `run_dev` image build lifecycle handling, and BuildKit scheduling.
+  * Refresh pip shim constraints, rosdep mappings, apt repository selection, and Docker image definitions for Isaac ROS 4.5.
+
+ -- Isaac ROS Maintainers <isaac-ros-maintainers@nvidia.com>  Mon, 6 Jul 2026 12:00:00 +0000
+
 isaac-ros-cli (2.3.0-1) noble; urgency=low
 
   * Refresh pip shim constraints, including PyYAML, SciPy, and tensordict.

debian/control

@@ -13,6 +13,7 @@ Depends: ${misc:Depends},
          ${python3:Depends},
          python3,
          python3-click (>= 8),
+         python3-pydantic,
          python3-termcolor,
          python3-venv,
          python3-yaml

debian/postinst

@@ -9,8 +9,19 @@
 
 set -e
 
+DOCKER_DEB_OVERRIDE_DIR="/etc/isaac-ros-cli/.docker-deb-overrides"
+
+clear_docker_deb_overrides() {
+    if [ -d "$DOCKER_DEB_OVERRIDE_DIR" ]; then
+        rm -rf "$DOCKER_DEB_OVERRIDE_DIR"
+        echo "Cleared Isaac ROS CLI Docker Debian overrides from $DOCKER_DEB_OVERRIDE_DIR"
+    fi
+}
+
 case "$1" in
     configure)
+        clear_docker_deb_overrides
+
         echo "Creating Isaac ROS virtual environment..."
 
         # Check if python3 is available

debian/prerm

@@ -9,8 +9,19 @@
 
 set -e
 
+DOCKER_DEB_OVERRIDE_DIR="/etc/isaac-ros-cli/.docker-deb-overrides"
+
+clear_docker_deb_overrides() {
+    if [ -d "$DOCKER_DEB_OVERRIDE_DIR" ]; then
+        rm -rf "$DOCKER_DEB_OVERRIDE_DIR"
+        echo "Cleared Isaac ROS CLI Docker Debian overrides from $DOCKER_DEB_OVERRIDE_DIR"
+    fi
+}
+
 case "$1" in
     remove)
+        clear_docker_deb_overrides
+
         echo "Removing Isaac ROS virtual environment..."
 
         VENV_PATH="/var/lib/isaac-ros-cli/isaac-ros"
@@ -28,6 +39,7 @@ case "$1" in
         ;;
 
     upgrade|deconfigure)
+        clear_docker_deb_overrides
         # Don't remove venv on upgrade, only on actual removal
         ;;