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PREREQUISITES.md

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Prerequisites

  • A free NVIDIA developer account for downloading Omniverse;
  • An NVIDIA GPU with RTX support for using Isaac Sim;
  • This guide is built on top of Ubuntu 22.04. Other distros are certainly possible, but commands may differ;
  • A controller for driving the robot. I used a DualSense, other controllers will require changing the scripts.

Performance fix for Podman's keep-id

This guide runs rootless containers and keeps the id of the user that calls the scripts (--userns=keep-id in podman). Sometimes this approach causes containers to stall for a while when starting. A fix for this issue is to use fuse's overlayfs to mount the container image. Here are the steps to achieve this:

  1. Install libfuse2:
apt install -y libfuse2
  1. Create the directory for Podman's configuration:
mkdir -p ~/.config/containers
  1. Create a file ~/.config/containers/storage.conf containing the following:
[storage]
  driver = "overlay"

[storage.options.overlay]
  mount_program = "/usr/bin/fuse-overlayfs"
  1. Check if the configuration is valid by calling some podman command:
podman images

If there are no errors then we are good to go.