Camera_manual.py incorrect publish frequency in Isaac Sim 4.0

Omniverse Isaac Sim
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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