I used `--isolated` (as well as other flags) in the Docker images mostly because that's the ament invocation I use for development. All the `--isolated` flag does is tell `ament_tools` to create an "isolated" install folder rather than a merged one, this means that each package will have it's own subfolder in the install directory. Without `--isolated`: ``` install bin include lib local_setup.bash local_setup.sh local_setup.zsh opt _order_packages.py setup.bash setup.sh setup.zsh share src ``` With `--isolated`: ``` install actionlib_msgs include lib local_setup.bash local_setup.sh local_setup.zsh _order_packages.py setup.bash setup.sh setup.zsh share ... visualization_msgs include lib local_setup.bash local_setup.sh local_setup.zsh _order_packages.py setup.bash setup.sh setup.zsh share ``` The main advantage of this approach is that each package will have a different path for its includes, libraries etc (`X_INCLUDE_DIRS`, `X_LIBRARIES`...). This allows to make sure the dependencies are properly declared in CMake without relying on the fact that some files from projects that haven't been `find_package`'d are present in the install directory. The drawback is that setting up the environment (`source (local_)setup.bash`) takes longer as a multitude of directories need to be added to environment variables (PATH, PYTHONPATH, LD_LIBRARY_PATH...). On Windows with the `cmd` command line interpreter, environment variables are limited to 2048 characters making this approach unusable. Other flags used in the docker images that differ from the ros2 installation instructions: - `--parallel`: allows to build concurrently packages whose dependencies are satisfied. We don't advertise it as we faced some race conditions at install time when not using it in cmbination with `--isolated` - `--symlink-install`: create symlinks in the install folder instead of copying the files. That allows faster install step as well as removing the need to rerun ament when modifying files that dont require compilation (e.g python scripts) in the source space. This is also not an option on windows as symlinking files requires administrator permissions. - `--cmake-args -DSECURITY=ON --`: compiles Fast-RTPS with DDS-Security enabled Hope this helps --- [Visit Topic](https://discourse.ros.org/t/isolated-in-docker-image/3504/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: