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Base it off of dustynv/ros:foxy-pytorch-l4t-r32.5.0 container (pick the appropriate tag for your respective version of JetPack-L4T)
But yes, the Isaac ROS package is an alternative to this one, which I collaborated with the Isaac ROS team on. So you are welcome to use whichever better suits your needs.
i cannot use it in Foxy, and would be redundant if they do the same, but Im not sure
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