Isaac ROS 4.1

Author: kajananchinniahNV

Makefile

@@ -10,10 +10,6 @@
 
 PACKAGE_NAME := isaac-ros-cli
 
-DISTRIBUTION ?= noble
-COMPONENT ?= main
-ARCHITECTURE ?= all
-
 # Convenience variable for the built .deb (lives one dir up when using dpkg-buildpackage)
 DEB_GLOB := ../$(PACKAGE_NAME)_*.deb
 
@@ -22,20 +18,33 @@ DEB_GLOB := ../$(PACKAGE_NAME)_*.deb
 help:
 	@echo "Targets:"
 	@echo "  make build           - Build Debian package (.deb)"
+	@echo "  make build-stamped   - Build Debian package (.deb) with timestamped version"
+	@echo "  make timestamp       - Append timestamp suffix to debian/changelog"
 	@echo "  make clean           - Remove staged packaging artifacts inside debian/"
 	@echo "  make distclean       - Clean and remove built files in parent dir"
 	@echo "  make print-deb       - Print the path to the built .deb (expects exactly one)"
 	@echo ""
-	@echo "Variables (override with VAR=value):"
-	@echo "  DISTRIBUTION=$(DISTRIBUTION)  COMPONENT=$(COMPONENT)  ARCHITECTURE=$(ARCHITECTURE)"
 
 all: build
 
+timestamp:
+	@set -e; \
+	timestamp=$$(date +%Y%m%d%H%M%S); \
+	sed -i "1s/)/.$$timestamp)/" debian/changelog; \
+	echo "Updated debian version with timestamp suffix .$$timestamp"; \
+	head -1 debian/changelog
+
 build:
 	@echo "Building Debian package for $(PACKAGE_NAME)..."
 	DEB_BUILD_OPTIONS=nocheck dpkg-buildpackage -us -uc -b
 	@echo "Build complete. Use 'make print-deb' to locate the .deb file."
 
+build-stamped:
+	cp debian/changelog debian/changelog.original
+	make timestamp
+	make build
+	mv debian/changelog.original debian/changelog
+
 print-deb:
 	@set -e; \
 	count=$$(ls -1 $(DEB_GLOB) 2>/dev/null | wc -l | tr -d ' '); \
@@ -47,7 +56,7 @@ print-deb:
 
 clean:
 	@echo "Removing staged packaging artifacts under debian/..."
-	rm -rf debian/$(PACKAGE_NAME) debian/.debhelper debian/debhelper-build-stamp debian/files
+	rm -rf debian/$(PACKAGE_NAME) debian/*.debhelper debian/*.substvars debian/debhelper-build-stamp debian/files
 
 distclean: clean
 	@echo "Removing built artifacts in parent directory (if any)..."

README.md

@@ -15,7 +15,7 @@ sudo apt-get install isaac-ros-cli
 isaac-ros --help
 
 # Initialize environment (pick a mode)
-sudo isaac-ros init docker
+sudo isaac-ros init <docker|venv|baremetal>
 
 # Activate environment
 isaac-ros activate

config/.build_image_layers.yaml

@@ -1,6 +1,9 @@
 image_key_order:
-  - noble.ros2_jazzy.realsense.nova_carter
+  - isaac_ros.noble.ros2_jazzy.realsense.nova_carter
+context_overrides:
+  isaac_ros: ..
+  noble: ..
 cache_to_registry_names: []
 cache_from_registry_names:
   - nvcr.io/nvidia/isaac/ros
-remote_builder: []
+remote_builder: []

config/config.yaml

@@ -1,13 +1,9 @@
-version: 1
-
-environment:
-  mode: uninitialized
+version: 2
 
 docker:
   image:
-    base_image_keys: 
-      - noble
-      - ros2_jazzy
+    base_image_keys:
+      - isaac_ros
     additional_image_keys: []
 
   run:

config/environment.conf

@@ -0,0 +1 @@
+ISAAC_ROS_ENVIRONMENT=uninitialized