Error log every time that load ROS navigation from Isaac Example

Error log every time that load ROS navigation from Isaac Example.
Very slow to load the scene, but my GPU is good.

nvidia-smi
±----------------------------------------------------------------------------+
| NVIDIA-SMI 515.48.07 Driver Version: 515.48.07 CUDA Version: 11.7 |
|-------------------------------±---------------------±---------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce … Off | 00000000:03:00.0 On | N/A |
| 56% 75C P2 324W / 350W | 5819MiB / 12288MiB | 96% Default |
| | | N/A |
±------------------------------±---------------------±---------------------+

±----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1453 G /usr/lib/xorg/Xorg 694MiB |
| 0 N/A N/A 1636 G /usr/bin/gnome-shell 197MiB |
| 0 N/A N/A 3230 G …010354771006841089,131072 474MiB |
| 0 N/A N/A 6162 G …RendererForSitePerProcess 77MiB |
| 0 N/A N/A 149337 C+G …saac_sim-2022.1.0/kit/kit 4333MiB |
±----------------------------------------------------------------------------+

2022-07-29 16:23:37 [2,490,830ms] [Error] [carb.flatcache.plugin] Error: UsdRelationship /World/Carter_ROS/ActionGraph/ros1_publish_transform_tree_01.inputs:targetPrims has multiple targets, which is not supported

2022-07-29 16:23:37 [2,491,053ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2022-07-29 16:23:37 [2,491,253ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2022-07-29 16:23:37 [2,491,257ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:jointNames’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-07-29 16:23:37 [2,491,257ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames

At:
/home/dongchan/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
/home/dongchan/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
/home/dongchan/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): setattr
/home/dongchan/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(218): initialize

2022-07-29 16:23:37 [2,491,258ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:angularVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-07-29 16:23:37 [2,491,258ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:linearVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-07-29 16:23:38 [2,491,453ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-07-29 16:23:38 [2,491,453ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr

What’s happen?

Hi @dongchanyear,

These errors are known but don’t affect the example in any way.

We are working on improving the performance. For now to improve the performance, you can try disabling the robot camera before pressing “Play” for the first time.