[Bug]: IsaacLab fails due to numPy version conflict in `go2_ws`

[YuZhong-Chen]

When following the instructions in the go2_ws documentation to run the Isaac Lab examples, a numpy version issue occurs, which matches exactly the problem reported in this issue.

To resolve the issue, I have tried the following methods:

• Avoid forcing the numpy version in the IsaacSim installation script and let the IsaacLab installation script handle it.
• Manually downgrade the numpy version to 1.26.1, 1.26.2, 1.26.3, or 1.26.4.
• Reinstall IsaacLab inside the container using ./isaaclab.sh --install.

However, none of these methods resolved the issue. The only way I was able to make IsaacLab work was to install only the rsl_rl module using:

cd ~/ros2-essentials/go2_ws/docker
docker compose up -d
docker exec -it ros2-go2-ws bash
cd ~/IsaacLab
./isaaclab.sh -i rsl_rl

When no specific module is passed to ./isaaclab.sh, it will install all modules by default, and currently, one of them may be causing dependency conflicts. As a temporary solution, using ./isaaclab.sh -i rsl_rl seems to work. A proper fix requires resolving the dependency issues within IsaacLab. If needed, I'm happy to spend more time investigating the problematic module.

[j3soon]

Thanks for reporting this. I think this is an upstream issue, and we can simply wait for the solution.

Meanwhile, you can use the official Isaac Lab docker image following the instructions here: https://github.com/j3soon/ros2-essentials/blob/main/scripts/docker_run_official_isaac_lab.sh

[j3soon]

When executing:

$ ros2 launch go2_bringup go2_bringup.launch.py

may cause the following issues:

• broken OmniGraph:

  

• broken TF tree:

  

Unfortunately, I cannot reproduce this issue on my machine.

If don't want to re-build the docker image, the following is a quick fix provided by @YuZhong-Chen:

cd ~/IsaacLab
./isaaclab.sh -i rsl_rl

Thanks @YuZhong-Chen and @JustinShih0918 for discussion. Will include a warning in the docs.