### Install Isaac ROS Examples

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html

Installs the necessary Isaac ROS examples package. This is a prerequisite for running the provided launch files.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples

```

--------------------------------

### Install Isaac ROS Examples Package

Source: https://nvidia-isaac-ros.github.io/concepts/pose_estimation/foundationpose/tutorial_tracking.html

Install the Isaac ROS examples package, which includes necessary nodes and configurations for running demos.

```bash
sudo apt-get update
sudo apt-get install -y ros-jazzy-isaac-ros-examples
```

--------------------------------

### Install apt dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html

Installs essential command-line tools required for downloading assets. Run this before downloading quickstart data.

```bash
sudo apt-get install -y curl jq tar

```

--------------------------------

### Install cuMotion Examples (Binary)

Source: https://nvidia-isaac-ros.github.io/concepts/manipulation/cumotion_moveit/tutorial_isaac_sim.html

Install the prebuilt Debian package for Isaac ROS cuMotion examples and its dependencies. Ensure your package list is updated before installation.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-cumotion-examples

```

--------------------------------

### Run Nvblox Example Launch File

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html

Launches an example simulation using isaac_ros_nvblox, specifying the path to the quickstart assets and disabling navigation.

```bash
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False
```

--------------------------------

### Install ZED Camera and Example Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_compression/isaac_ros_h264_encoder/index.html

Installs required ROS packages for ZED camera integration, stereo image processing, and Isaac ROS examples. These are prerequisites for running the ZED camera launch file.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-stereo-image-proc ros-jazzy-isaac-ros-zed
```

--------------------------------

### Install RealSense and Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/concepts/pose_estimation/foundationpose/tutorial_tracking.html

Install the necessary Isaac ROS RealSense and examples packages. This includes dependencies for camera integration and running demos.

```bash
sudo apt-get update
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense
```

--------------------------------

### Install Nova Orin Init

Source: https://nvidia-isaac-ros.github.io/nova/_sources/nova_init/index.rst.txt

Update APT and install the Nova Orin Init package. This is the primary command for initial setup.

```bash
sudo apt update && sudo apt install nova-orin-init
```

--------------------------------

### Automatic Setup During Build

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Enable asset installation and build the package to automatically download models. This is the most common usage.

```bash
# Enable asset installation
export MANIPULATOR_INSTALL_ASSETS=1

# Build the package (automatically downloads models)
cd ${ISAAC_ROS_WS}
colcon build --packages-up-to isaac_ros_manipulation_asset_bringup

```

--------------------------------

### Verify Nova Installation

Source: https://nvidia-isaac-ros.github.io/nova/_sources/nova_init/index.rst.txt

After installation, this output indicates the available Nova YAML configuration examples. Select one or 'none' for a custom configuration.

```text
No Nova YAML specified. The following example files are available: none, hawk-2_owl-4, owl-4, nova-devkit, nova-orin, hawk-1, hawk-4_owl-4, hawk-2, nova-carter. Select one of the examples for a predefined yaml or none if you would like to write your own custom. Use `show <example>` if you want to see the YAML. Response:
```

--------------------------------

### Install FoundationStereo Models (Prebuilt)

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_dnn_stereo_depth/isaac_ros_foundationstereo/index.html

Downloads and installs the pre-trained FoundationStereo model files using the installed model installation script. Supports 'high_res' or 'low_res' model resolutions.

```bash
sudo apt-get update

```

```bash
ros2 run isaac_ros_foundationstereo_models_install install_foundationstereo_models.sh --eula \
   --model_res high_res

```

--------------------------------

### Pick and Place Tutorial Setup

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Build the package to download necessary models for the Pick and Place tutorial. This includes FoundationPose and SyntheticaDETR models.

```bash
export MANIPULATOR_INSTALL_ASSETS=1
colcon build --packages-up-to isaac_ros_manipulation_asset_bringup

```

--------------------------------

### Setup Perception Models (Binary Package)

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/setup/setup_with_gripper.html

Sets up perception models like FoundationPose, SyntheticaDETR, and downloads sample object assets using the binary package. This also serves as a final verification.

```bash
export MANIPULATOR_INSTALL_ASSETS=1
export FOUNDATIONSTEREO_MODEL_RES=low_res

ros2 run isaac_ros_manipulation_asset_bringup setup_perception_models.py --models all

```

--------------------------------

### Launch Object Following Example

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/isaac_sim/tutorial_isaac_sim_object_following.html

Launch the object following example using the specified workflow configuration file.

```bash
ros2 launch isaac_ros_manipulation_bringup workflows.launch.py \
   manipulator_workflow_config:=$(ros2 pkg prefix --share isaac_ros_manipulation_bringup)/params/sim_launch_params.yaml
```

--------------------------------

### Install NITROS Bridge Quickstart Assets

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros_bridge/index.html

Installs necessary libraries and downloads quickstart assets from NGC for the Isaac ROS NITROS Bridge. Ensure your development environment is set up before running.

```bash
sudo apt-get install -y curl jq tar

```

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_nitros_bridge_ros2"
NGC_RESOURCE="isaac_ros_nitros_bridge_ros2_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r \
    ".recipeVersions[] \
    | .versionId as $v \
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$")) \
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber} \
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION) \
    | $v \
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Install MuJoCo ROS Control Package

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_physical_ai/isaac_ros_unitree_g1_teleop_bringup/index.html

Install the `mujoco_ros2_control` package, which is a dependency for simulation environments. Ensure to source the ROS setup after installation.

```bash
sudo apt-get install -y ros-jazzy-mujoco-ros2-control
source /opt/ros/jazzy/setup.bash

```

--------------------------------

### Run U-Net with Rosbag Quickstart

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html

Launch the U-Net segmentation demo using a quickstart rosbag. This is useful for testing the package without live camera input.

```bash
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=unet interface_specs_file:${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_unet/quickstart_interface_specs.json engine_file_path:${ISAAC_ROS_WS}/isaac_ros_assets/models/peoplesemsegnet/deployable_quantized_vanilla_unet_onnx_v2.0/1/model.plan input_binding_names:=['input_1:0']
```

--------------------------------

### Install Isaac ROS ZED Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_image_proc/index.html

Installs the necessary Isaac ROS examples and ZED packages.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-zed
```

--------------------------------

### Manual Setup for All Models

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Manually run the setup script to download all perception models and display the directory structure. Ensure the MANIPULATOR_INSTALL_ASSETS environment variable is set.

```bash
# Set the environment variable
export MANIPULATOR_INSTALL_ASSETS=1

# Run the setup script for all models
ros2 run isaac_ros_manipulation_asset_bringup setup_perception_models.py \
   --models all \
   --show-structure

```

--------------------------------

### Install ZED and Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_yolov8/index.html

Installs dependencies for using Isaac ROS with a ZED camera, including the examples and stereo image processing packages. Ensure your ZED camera is set up and the Isaac ROS environment is activated.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-stereo-image-proc ros-jazzy-isaac-ros-zed

```

--------------------------------

### Copy Model Configuration

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_centerpose/index.html

Copies the quickstart model configuration file to the model repository. Ensure the configuration name matches the model repository name.

```bash
cp ${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_centerpose/config.pbtxt ${ISAAC_ROS_WS}/isaac_ros_assets/models/centerpose_shoe/config.pbtxt
```

--------------------------------

### Run PyNITROS Quickstart Launch File

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_pynitros/index.html

Launches the PyNITROS quickstart demo. This requires the rosbag path to be correctly specified.

```bash
cd ${ISAAC_ROS_WS} && \
  ros2 launch isaac_ros_pynitros isaac_ros_pynitros_quickstart.launch.py rosbag_path:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_pynitros/quickstart.bag

```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_stereo_image_proc/index.html

Downloads the quickstart assets for `isaac_ros_stereo_image_proc` from NGC. This script determines the latest compatible version and downloads the `quickstart.tar.gz` file.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_stereo_image_proc"
NGC_RESOURCE="isaac_ros_stereo_image_proc_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r "
    .recipeVersions[]
    | .versionId as $v
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$"))
    | split(".") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber}
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION)
    | $v
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Install ROS Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html

Installs necessary ROS 2 packages for Isaac ROS examples and specific hardware support.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-stereo-image-proc ros-jazzy-isaac-ros-zed

```

--------------------------------

### Check Docker buildx Version

Source: https://nvidia-isaac-ros.github.io/troubleshooting/dev_env.html

Use this command to verify if the Docker `buildx` component is installed and functional. If it's missing or broken, follow the official Docker installation guide to install it.

```bash
docker buildx version

```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index.html

Downloads the quickstart assets for `isaac_ros_detectnet` from NGC, dynamically selecting the latest compatible version.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_detectnet"
NGC_RESOURCE="isaac_ros_detectnet_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r \
    ".recipeVersions[]
    | .versionId as \$v
    | \$v | select(test("^\\d+\\.\\d+\\.\\d+$"))
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber}
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION)
    | \$v
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Isaac Sim Tutorials Setup

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/packages/isaac_ros_manipulation_asset_bringup/index.html

Build the package with specific model resolution for Isaac Sim tutorials to ensure consistent model availability. The MANIPULATOR_INSTALL_ASSETS and FOUNDATIONSTEREO_MODEL_RES environment variables should be set.

```bash
export MANIPULATOR_INSTALL_ASSETS=1
export FOUNDATIONSTEREO_MODEL_RES=low_res
colcon build --packages-up-to isaac_ros_manipulation_asset_bringup

```

--------------------------------

### Launch RealSense Example (Live)

Source: https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/tutorials/tutorial_realsense.html

Launch the RealSense example using the provided launch file. This command is used when running with live data from a RealSense sensor.

```bash
ros2 launch nvblox_examples_bringup realsense_example.launch.py
```

--------------------------------

### Install Nav2 Bringup

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/isaac_ros_nvblox/index.html

Installs the Nav2 bringup package, which is required for examples that involve navigation. This can be omitted if navigation is disabled in the launch file.

```bash
sudo apt-get install -y ros-jazzy-nav2-bringup
```

--------------------------------

### Launch RViz with Quickstart Configuration

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_mapping_and_localization/isaac_ros_occupancy_grid_localizer/index.html

Launches RViz with a specific configuration file for the occupancy grid localizer quickstart. This helps visualize the localization process.

```bash
rviz2 -d  $(ros2 pkg prefix isaac_ros_occupancy_grid_localizer --share)/rviz/quickstart.rviz

```

--------------------------------

### Install RealSense and Examples Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html

Installs the necessary packages for using SegFormer with a RealSense camera. Ensure your RealSense camera is already set up.

```bash
sudo apt-get update

```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense

```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html

Downloads the quickstart assets for `isaac_ros_foundationpose` from NGC. This script determines the latest compatible version and downloads the `quickstart.tar.gz` file.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_foundationpose"
NGC_RESOURCE="isaac_ros_foundationpose_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r \
    ".recipeVersions[] \
    | .versionId as $v \
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$")) \
    | split(".") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber} \
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION) \
    | $v \
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Install Unitree G1 Teleop Bringup Debian Package

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_physical_ai/isaac_ros_unitree_g1_teleop_bringup/index.html

Install the prebuilt Debian package for `isaac_ros_unitree_g1_teleop_bringup`. This is the recommended method for quick setup.

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-unitree-g1-teleop-bringup

```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_object_detection/isaac_ros_grounding_dino/index.html

Downloads the Grounding DINO quickstart assets from NGC. This script finds the latest compatible version and downloads the tarball, extracting it into the ISAAC_ROS_WS assets directory.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_grounding_dino"
NGC_RESOURCE="isaac_ros_grounding_dino_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r \
    ".recipeVersions[] \
    | .versionId as $v \
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$")) \
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber} \
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION) \
    | $v \
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Download Quickstart Assets from NGC

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_dnn_stereo_depth/isaac_ros_foundationstereo/index.html

Downloads the quickstart assets for isaac_ros_foundationstereo from NGC. This script dynamically finds the latest compatible version based on the specified major and minor versions and extracts the assets to the ISAAC_ROS_WS directory.

```bash
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_foundationstereo"
NGC_RESOURCE="isaac_ros_foundationstereo_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=4
MINOR_VERSION=4
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r \
    ".recipeVersions[] \
    | .versionId as $v \
    | $v | select(test("^\\d+\\.\\d+\\.\\d+$")) \
    | split(".") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber} \
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION) \
    | $v \
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

```

--------------------------------

### Install Cyclone DDS

Source: https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/isaac_sim/tutorial_isaac_sim_pick_and_place.html

Install the Cyclone DDS Real-Time Publish-Subscribe (RTPS) Dynamic Distribution Edge (DDS) implementation. This is a one-time setup.

```bash
sudo apt-get install -y ros-jazzy-rmw-cyclonedds-cpp

```

--------------------------------

### Install RViz2

Source: https://nvidia-isaac-ros.github.io/concepts/fiducials/apriltag/tutorial_usb_cam.html

Install the RViz2 visualization tool and source the ROS 2 Jazzy setup script. This is needed to visualize the AprilTag detection results.

```bash
sudo apt-get install -y ros-jazzy-rviz2
source /opt/ros/jazzy/setup.bash

```

--------------------------------

### Install RealSense Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_stereo_image_proc/index.html

Installs necessary ROS packages for RealSense camera integration and stereo image processing. Ensure RealSense setup is complete before running.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-realsense ros-jazzy-isaac-ros-depth-image-proc ros-jazzy-isaac-ros-image-proc
```

--------------------------------

### Install Dependencies and Build zed_wrapper (Virtual Env/Bare Metal)

Source: https://nvidia-isaac-ros.github.io/getting_started/sensors/zed_setup.html

Install ROS dependencies for zed_wrapper and build the package for Virtual Environment or Bare Metal setups.

```bash
cd ${ISAAC_ROS_WS} && \
sudo apt update && \
rosdep update && rosdep install --from-paths src/zed-ros2-wrapper --ignore-src -r -y && \
colcon build --symlink-install --packages-up-to zed_wrapper

```

--------------------------------

### Launch ZED X Stereo Example

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_stereo_image_proc/index.html

Launches the Isaac ROS example for ZED X series cameras. Use 'zedx_quickstart_interface_specs.json' for camera configuration.

```bash
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py \
launch_fragments:=zed_stereo_rect,disparity,disparity_to_depth,point_cloud_xyz \
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_stereo_image_proc/zedx_quickstart_interface_specs.json
```

--------------------------------

### Install ZED Camera Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_pipeline/isaac_ros_stereo_image_proc/index.html

Installs required ROS packages for ZED camera integration, depth image processing, and stereo image processing. Ensure ZED setup is complete.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-depth-image-proc ros-jazzy-isaac-ros-image-proc ros-jazzy-isaac-ros-zed
```

--------------------------------

### Launch Isaac Sim Example with Sensor Configuration

Source: https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/tutorials/tutorial_isaac_sim.html

Launch the Nvblox example with options to enable 3D lidar and specify the number of cameras.

```bash
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
lidar:=<"lidar"> num_cameras:=<"num_cameras">
```

--------------------------------

### Launch Nvblox Isaac Sim Example

Source: https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/tutorials/tutorial_isaac_sim.html

Launch the dynamic scene reconstruction example using ROS 2. This command starts the Nvblox ROS node with dynamic mode enabled.

```bash
ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
mode:=dynamic
```

--------------------------------

### Install ZED and Image Processing Dependencies

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html

Install the required dependencies for using ZED cameras with Isaac ROS image processing and U-Net segmentation. Ensure ZED camera setup is complete.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-examples ros-jazzy-isaac-ros-image-proc ros-jazzy-isaac-ros-zed
```

--------------------------------

### Build and Source Workspace

Source: https://nvidia-isaac-ros.github.io/getting_started/sensors/camera_calibration.html

Build the workspace with the newly cloned package and source the setup file to activate the environment.

```bash
cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install && \
  source install/setup.bash
```

--------------------------------

### Install Prebuilt H264 Encoder Package

Source: https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_compression/isaac_ros_h264_encoder/index.html

Updates the apt package list and installs the prebuilt Debian package for the Isaac ROS H264 Encoder. This is a quick way to get the package if building from source is not required.

```bash
sudo apt-get update
```

```bash
sudo apt-get install -y ros-jazzy-isaac-ros-h264-encoder
```