Camera_manual.py incorrect publish frequency in Isaac Sim 4.0

Omniverse Isaac Sim
, ,
1

Isaac Sim Version

4.0.0
2023.1.1

Operating System

Ubuntu 22.04.4

GPU Information

  • Model: 2x RTX A6000 Ada Lovelace
  • Driver Version: 535.183.01

Detailed Description

Running camera_manual.py from the standalone_examples in Isaac Sim 4.0 leads to wrong results compared to Isaac Sim 2023.1.1. In Isaac Sim 2023.1.1 the rgb Image and depth Image are published with the expected frequnency as shown in the picture below ( ≈10Hz for rgb and ≈1Hz for depth by ≈50 FPS). In Isaac Sim 4.0 instead, the frequency of the image topic didn’t change ( ≈20Hz for rgb and ≈20Hz for depth by ≈45 FPS.

Expected behaiviour:
Frequency of rgb and depth image topic should be the same in camera_manual.py in Isaac Sim 4.0 and Isaac Sim 2023.1.1.

Steps to Reproduce

Run camera_manual.py from the Isaac Sim ROS2 standalone Examples folder in Isaac Sim 2023.1.1 and Isaac Sim 4.0

Screenshots or Videos

Isaac_Sim_4_0
Isaac_Sim_4_0983×458 202 KB

Isaac_Sim_23_1_1
Isaac_Sim_23_1_1986×461 233 KB

2

Are you observing this behavior when running the ROS or ROS2 example specifically?

Have you tried replicating this issue in the latest Isaac Sim version 4.2.0? There may have been updates or fixes implemented since version 4.0.0.

4

I’m using the ROS2 Example and with Isaac Sim 4.2 the issue is exactly the same.

image
image1000×433 72.6 KB

5

@VickNV
any updates on this? Still facing the same issue with Isaac Sim 4.5!

7

Hey @koehne1! I tried the example in Isaac Sim 4.5.0. It seems fine for me.
In my case, my frame rate is about 150. The frequency of rgb topic is about 30 and the frequency of depth topic is about 2.

(base) zhengwang@zhengwang-isaac:~/Desktop/forum_support/Lula_kinematics$ ros2 topic hz /rgb
average rate: 28.981
	min: 0.025s max: 0.064s std dev: 0.00982s window: 30
average rate: 27.373
	min: 0.005s max: 0.087s std dev: 0.01384s window: 57
average rate: 27.063
	min: 0.005s max: 0.111s std dev: 0.01543s window: 84
^C(base) zhengwang@zhengwang-isaac:~/Desktop/forum_support/Lula_kinematics$ ros2 topic hz /depth
average rate: 2.171
	min: 0.364s max: 0.716s std dev: 0.14777s window: 4
average rate: 2.025
	min: 0.364s max: 0.745s std dev: 0.16778s window: 6

This is roughly aligned with the example:

        # Publish the ROS rgb image message every 5 frames
        if frame % 5 == 0:
            # Enable rgb Branch node to start publishing rgb image
            og.Controller.attribute(rgb_camera_gate_path + ".inputs:step").set(1)

        # Publish the ROS Depth image message every 60 frames
        if frame % 60 == 0:
            # Enable depth Branch node to start publishing depth image
            og.Controller.attribute(depth_camera_gate_path + ".inputs:step").set(1)

Maybe try to upgrade your driver? You have a more powerful GPU than I do. I have driver 560.35.03

8

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

Thank you for being part of the NVIDIA Isaac Sim community.

Best regards,
The NVIDIA Isaac Sim Forum Team