Asynchronous Update Type conflicts ROS2

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX4060 Laptop
  • Driver Version: 570.133.07

Topic Description

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

  1. I attached my Isaac Sim program so you can test it
    test_2.zip (1.6 MB)

  2. Set asynchronous update type

  3. Create a simple articulation-> Ros2 action graph

  4. Run

Please help, thanks

3

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
4

I send the record video when run synchronous and asynchronous:

  1. Synchronous: There were warnings but it still worked

    synchonous
    synchonous1877×565 159 KB

  2. Asynchronous: Because isaac sim paused or freezed, I could not interact or saw any logs

    asynchronous
    asynchronous1920×1073 509 KB

  3. 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

    textures
    textures1543×504 26.4 KB

test_2_.zip (10.2 MB)

Please check, thank Zhengwang

5

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.

1 Like
7

Thank you very much. Looking forward to your solution soon

8

@zhengwang
Do you have any updates on this problem?

9

I have already passed down this issue to the internal team. They are aware of it and will investigate it. Thanks for your patience.

1 Like
10

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!

11

Hi @v.ducnd32! More updates from the internal team. The async updates are not supported in Isaac Sim 5.0

12

ok I got it.

Because the async so the data in communication is not smooth and continuous

1 Like