I am using isaac_sim-2022.2.0.
I have been trying to enable ros_bridge and disable ros2_bridge but it is not working for me.
Firstly, I am getting an error using ros_bridge. Using a standalone python script takeoff.py, I get the following error when executing:
./python.sh takeoff.py
ERROR
2023-04-05 18:43:29 [153,345ms] [Error] [omni.ext.plugin] [ext: omni.isaac.ros_bridge-1.9.0] Failed to startup python extension.
[155.008s] [ext: omni.isaac.ros_bridge-1.9.0] shutdown
[156.361s] [ext: omni.isaac.ros_bridge-1.9.0] startup
2023-04-05 18:43:32 [156,357ms] [Warning] [carb] [Plugin: libomni.isaac.ros_bridge.plugin.so] Could not locate the function: carbGetFrameworkVersion
2023-04-05 18:43:32 [156,357ms] [Warning] [carb] Potential plugin preload failed: /home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros_bridge/bin/libomni.isaac.ros_bridge.plugin.so
2023-04-05 18:43:32 [156,357ms] [Error] [omni.ext.plugin] [ext: omni.isaac.ros_bridge-1.9.0] failed to load native plugin: /home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros_bridge/bin/libomni.isaac.ros_bridge.plugin.so
2023-04-05 18:43:32 [156,358ms] [Warning] [carb] [Plugin: libomni.structuredlog.plugin.so] Module /home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/libomni.structuredlog.plugin.so remained loaded after unload request
2023-04-05 18:43:32 [156,358ms] [Error] [carb.scripting-python.plugin] RuntimeError: Failed to acquire interface: omni::isaac::ros_bridge::RosBridge (pluginName: nullptr)
At:
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros_bridge/omni/isaac/ros_bridge/scripts/extension.py(40): on_startup
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/kernel/py/omni/ext/_impl/_internal.py(148): _startup_ext
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/kernel/py/omni/ext/_impl/_internal.py(197): startup
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/kernel/py/omni/ext/_impl/_internal.py(280): startup_extension
PythonExtension.cpp::startup()(2): <module>
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/exts/omni.kit.window.extensions/omni/kit/window/extensions/ext_commands.py(29): do
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/extscore/omni.kit.commands/omni/kit/undo/undo.py(80): execute
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/extscore/omni.kit.commands/omni/kit/commands/command.py(459): execute
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/exts/omni.kit.window.extensions/omni/kit/window/extensions/common.py(287): toggle_extension
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/kit/exts/omni.kit.window.extensions/omni/kit/window/extensions/ext_components.py(89): toggle
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.core/omni/isaac/core/simulation_context/simulation_context.py(465): step
/home/user/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.core/omni/isaac/core/world/world.py(338): step
takeoff.py(106): run
takeoff.py(119): main
takeoff.py(123): <module>
TESTING WITHOUT MY SCRIPT
I also tested by opening a fresh Isaac sim instance, so that my standalone python script is not causing an error here. The terminal output shows the following:
2023-04-05 18:48:28 [7,534ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Nucleus Check *********************
2023-04-05 18:48:28 [7,534ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Nucleus Check uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[7.560s] [ext: omni.isaac.sim.base-2022.2.0] startup
[7.560s] [ext: pegasus.simulator-1.0.0] startup
[7.663s] [ext: omni.isaac.sim.base-2022.2.0] shutdown
**[7.663s] [ext: omni.isaac.ros_bridge-1.9.0] shutdown**
**[8.405s] [ext: omni.isaac.ros2_bridge-1.10.1] startup**
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Navigation *********************
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Navigation uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Hospital Scene *********************
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Hospital Scene uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Office Scene *********************
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Office Scene uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription MoveIt *********************
2023-04-05 18:48:29 [8,526ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] MoveIt uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core
[8.598s] [ext: omni.kit.tool.measure-104.0.39] startup
[8.634s] [ext: omni.isaac.sim-2022.2.0] startup
[8.836s] app ready
[11.142s] RTX ready
[11.142s] RTX ready
[11.154s] Isaac Sim App is loaded.
Notice that ros2_bridge is automatically started while ros_bridge is shutdown. My native ros is noetic.
How can I default to the intended ros bridge?
EXTENSION TEST FOR ROS_BRIDGE
Next, I run the extension test for ROS1 bridge.
|||||||||||||||||||||||||||||| [EXTENSION TEST FAILED: omni.isaac.ros_bridge] ||||||||||||||||||||||||||||||
============================================================
Extension Tests Run Summary (Date: 2023-04-05T14-51-11)
============================================================
app: [empty]
retry strategy: no-retry, max test run: 1
============================================================
[ fail ] [ 23.2s] omni.isaac.ros_bridge (Count: 38)
============================================================
============================================================
[ERROR] 1 tests processes failed out of 1.
The test fails. Clearly, something is not right here.