Setup Guide — Physical AI Tools

Overview

This guide covers Physical AI Tools-specific setup for OMX.

Before starting this page, complete ROS 2 Setup. It prepares the OpenMANIPULATOR Docker container and the leader/follower serial port settings required for Physical AI Tools.

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System Requirements

Recommended OS	Ubuntu
Hardware requirement	NVIDIA GPU (CUDA-capable)

Software Setup

Prerequisites

• Operating System: Any Linux distribution

  • The container runs Ubuntu 24.04 + ROS 2 Jazzy
  • The Host OS version does not need to match.

• Docker Engine

  • Install using the official Docker guide

  • After installation:

    sudo usermod -aG docker $USER
    sudo systemctl enable docker
    docker run hello-world

• Git

  sudo apt install git

• NVIDIA Container Toolkit

  • Follow the official installation guide

    • Required steps:

      1. Configure the production repository
      2. Install nvidia-container-toolkit
      3. Configure Docker runtime using nvidia-ctk
      4. Restart Docker daemon

    • For detailed configuration, see the Docker configuration guide

Set up Physical AI Tools Docker Container

1. Start the Docker container

Clone the repository along with all required submodules:

USER PC

git clone --recurse-submodules https://github.com/ROBOTIS-GIT/physical_ai_tools.git

Start the Physical AI Tools Docker container with the following command:

cd physical_ai_tools/docker && ./container.sh start

2. Configure camera topics

If you are using more than one camera or want to use a custom camera, list the available camera topics and choose the one you want to use:

Enter the Physical AI Tools Docker container:

USER PC

./container.sh enter

list the available topics to find your camera stream:

USER PC

ros2 topic list

And open the configuration file and update it as described below:

USER PC 🐋 PHYSICAL AI TOOLS

sudo nano ~/ros2_ws/src/physical_ai_tools/physical_ai_server/config/omx_f_config.yaml

Then update the fields outlined in red in the UI to point to your desired camera topic.

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Note: The topic you set must always end with compressed
(for example, camera1/image_raw/compressed).

🎉 Physical AI Tools Container Setup Complete!

Before recording demonstrations, launch the camera node, Physical AI Server, and ROS 2 teleoperation node from Dataset Preparation.

Dataset PreparationPrerequisites