I want to physics simulation and render simulation run separately. Because if they run sequentially, topic joint_state will not publish message while rendering. If they run separately, ROS2 Isaac Sim communicates continuously without be blocked while rendering.
I tried only asynchronous update type in physics scene. Simulation run normally
I tried only ROS2 action graph + synchronous update type (default). Simulation run normally, I can subscribe message from topics
But when I combine asynchronous update type with ROS2 action graph. Simulation is stopped then crashing.
Steps to Reproduce
I attached my Isaac Sim program so you can test it test_2.zip (1.6 MB)
Hi @v.ducnd32! Could you share error messages or crash log from Isaac Sim?
I tried to run your usdz file with Isaac Sim 4.5. But it is missing some texture file. Could you please share them as well? Thanks!
2025-05-19 22:14:38 [33,173ms] [Error] [gpu.foundation.plugin] Failed to read texture file file:/home/zhengwang/Desktop/forum_support/ros2_crash/test_2.usdz%5BSubUSDs/textures/Wireframe_blue.png%5D or file is empty
2025-05-19 22:14:38 [33,299ms] [Error] [gpu.foundation.plugin] Failed to read texture file file:/home/zhengwang/Desktop/forum_support/ros2_crash/test_2.usdz%5BSubUSDs/textures/WireframeBlur_blue.png%5D or file is empty
2025-05-19 22:14:39 [33,424ms] [Error] [gpu.foundation.plugin] Failed to read texture file file:/home/zhengwang/Desktop/forum_support/ros2_crash/test_2.usdz%5BSubUSDs/textures/WireframeBlur_basecolor.png%5D or file is empty
I shared the zip folder. Please check the texture folder inside. I tested on my colleague’s computer. I could open and the program ran normally. I extracted .usdz folder then open .usd file by Isaac Sim. It worked
Hi @v.ducnd32. Thanks for your file and videos. When I open the usd file (without setting asynchronous update type), Isaac Sim would immediately freeze for me without any error or dump info from the log. Let me reach out to the internal team for this issue.
Hi @v.ducnd32 could you please clarify how you run it in sync and async modes? Is there a particular command you use or did you change it somewhere in the Isaac Sim GUI? Thanks!