Can't open ROS2 bridge in Isaac Sim

[zzh2804176806]

Isaac Sim Version

4.5.0

Operating System

Windows 11

Detailed Description

I’d like to open ROS2 bridge in Isaac sim 4.5 on Windows 11. I have followed each step provided by the official documentation: ROS and ROS 2 Installation — Isaac Sim Documentation for windows. Ubuntu 22.04 and ROS2 Humble are installed in WSL2.

After all steps, I launched Isaac sim app via Isaac-sim.selector by command:
(env_isaaclab) PS C:\IsaacLab> ._isaac_sim\isaac-sim.selector.bat

And choose isaacsim.ros2.bridge in “Extension”. Then, I clicked on “START” to open Isaac sim app. I checked ros2 bridge extension and in this case, ros2 bridge is opened and all ros2 node can be used.

However, if I directly open Isaac sim app, not via selector, by command:
(env_isaaclab) PS C:\IsaacLab> ._isaac_sim\isaac-sim.bat
the ros2 bridge is not opened.

And, if I try to open it manually, it fails:

Besides this way, other ways that are not via selector, such as via python script, also can not open ROS2 bridge.

How can I solve this problem. Thank you very much!

[VickNV]

Please check if the discussion in Troubleshooting: Missing ROS2 Topics in Isaac Sim on Windows 11 with WSL - #16 by VickNV is helpful.

[zzh2804176806]

I’m so sorry to say that it is not very helpful.

I have successfully set up ROS workspace and set the FASTRTPS_DEFAULT_PROFILES_FILE variable referencing the “Multiple Machines” tab in the “Enabling the ROS Bridge Extension”. The commands in two terminals (WSL2 and windows PowerShell) are shown in the following figure.

First, I think the communication between WSL2 and windows is well, because if I use Isaac Sim selector to open app, ROS2 bridge can be used, and I utilized ROS2 publisher node in Action Graph to publish data “100” (topic name: int; message type: std_msgs/msg/Int64)：

In WSL2, I can show this topic and obtain data “100”:

So, everything looks well. But if I directly open app, not via Isaac Sim selector, the ROS2 bridge cannot be opened and there are no ROS2 nodes in action graph.

[zzh2804176806]

This problem is solved.

In the system environment variables of windows setting, add variables: name:ROS_DISTRO, value: humble; name: RMW_IMPLEMENTATION, value: rmw_fastrtps_cpp. And edit the variable “Path” to add “C:\isaaclab_isaac_sim\exts\isaacsim.ros2.bridge\humble\lib”. Then, ROS2 bridge can be used.