Errors Following TurtleBot ROS Messages Tutorial: Seeking Solutions

I’ve been working through the Driving TurtleBot via ROS messages Tutorial and have encountered several errors that I’m unable to resolve. Despite closely following the tutorial instructions, these errors persist, related to the articulation of the Turtlebot within the Isaac Sim environment.

Tutorial Link:
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_drive_turtlebot.html

The errors are as follows:

2024-03-20 10:44:29 [2,687,913ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,913ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-03-20 10:44:29 [2,687,913ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,913ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations
2024-03-20 10:44:29 [2,687,942ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,942ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handlev
2024-03-20 10:44:29 [2,687,942ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,942ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations

2024-03-20 10:44:29 [2,687,970ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,970ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-03-20 10:44:29 [2,687,970ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,970ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations

2024-03-20 10:44:29 [2,687,998ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,998ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-03-20 10:44:29 [2,687,998ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,687,998ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations

2024-03-20 10:44:29 [2,688,026ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,688,026ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-03-20 10:44:29 [2,688,027ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,688,027ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations

2024-03-20 10:44:29 [2,688,054ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
>2024-03-20 10:44:29 [2,688,054ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-03-20 10:44:29 [2,688,054ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,688,054ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations

2024-03-20 10:44:29 [2,688,082ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,688,082ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetArticulationRootBody: Invalid or expired articulation handle
2024-03-20 10:44:29 [2,688,082ms] [Warning] [omni.physx.tensors.plugin] Failed to find articulation at '/World/turtlebot3_burger'
2024-03-20 10:44:29 [2,688,082ms] [Error] [omni.physx.tensors.plugin] Pattern '/World/turtlebot3_burger' did not match any articulations

2024-03-20 10:48:08 [2,907,624ms] [Warning] [omni.kit.window.property.templates.simple_property_widget] JointWidget.build_items took 0.23862242698669434         seconds
2024-03-20 10:48:29 [2,928,614ms] [Error] [omni.physx.plugin] PhysX error: attachShape: non-SDF triangle mesh, tetrahedron mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for non-kinematic PxRigidDynamic instances., FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 384
2024-03-20 10:55:15 [3,334,390ms] [Warning] [omni.kit.context_menu.scripts.context_menu] _merge_submenu: failed to merge duplicate item Skeletal Animation
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item New Curve - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     BasisCurves - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Animation Graph - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Animation - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item NavMesh Volume - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Navigation - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Action Graph - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Push Graph - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Lazy Graph - Should be uiMenu/uiMenuItem
2024-03-20 10:55:15 [3,334,398ms] [Warning] [omni.kit.context_menu.scripts.context_menu] build_item: bad context menu item     Visual Scripting - Should be uiMenu/uiMenuItem

I’ve double-checked my steps, especially regarding the articulation controller setup, and compared my Omnigraph settings against the tutorial, with everything appearing identical
Omnigraph that looks the same

Also ensured to correctly assign the Articulation Controller node’s target to the Turtlebot, by unselecting “Use Path” and selecting the appropriate robot prim via the “Target” option in the property tab. Additionally, I followed the instructions to apply the Articulation Root API to the correct prim. In the case of the Turtlebot, which was imported using the URDF importer as per the tutorial, I supposed the API would be located in the “turtlebot3_burger/base_footprint”, therefore assigned the parent prim ‘/World/turtlebot3_burger’ as the target prim.
TargetPrim:

Hierarchy:

USD File:
[USD File]

Despite these efforts, the issue remains unresolved
Could anyone offer insights or solutions to address these errors? Your expertise and advice would be greatly appreciated as I navigate through these challenges.
Thank you in advance for your time and assistance.

Hi,

For better visibility, I am moving your topic to the Isaac Sim category.

Raffaello

Hi @sweetyleah0 Here’s a summary of the key messages and what they suggest:

  1. Articulation errors: Most of the error messages from omni.isaac.dynamic_control.plugin and omni.physx.tensors.plugin are similar and are related to not finding an articulation with the identifier /World/turtlebot3_burger. This could mean that either the articulation does not exist, is not properly named, or is not registered correctly within the simulation.
  2. Invalid or expired articulation handle: This error from omni.isaac.dynamic_control.plugin suggests that either an attempt was made to use an articulation handle that was not valid, or the articulation it refers to was deleted or not correctly created.
  3. Non-SDF (Signed Distance Field) geometry shapes: This error from omni.physx.plugin indicates that there is a non-SDF geometry (like a complex triangle mesh) being used as a simulation shape with a dynamic body, which is not supported. You need to use a simpler collision shape or make the rigid body kinematic if you want to use a more complex shape for collisions.
  4. Context menu warning: Warnings from omni.kit.context_menu.scripts.context_menu suggest there’s an issue with some items in the context menu. They may be incorrectly registered or there could be a conflict with another extension or script.
  5. JointWidget performance warning: This warning suggests that the operation JointWidget.build_items is taking a significant amount of time to complete, which could imply performance issues.

To resolve these issues, follow these recommendations:

  • Check the validity of your articulation references. Make sure the articulation exists, has the correct path, and is properly registered within the simulation environment.
  • If you deleted or modified the articulation in some way after creating the handle, ensure those changes are accounted for in your code or setup.
  • For collision shapes, use a simplified collision geometry, like a bounding box, sphere, or capsule, for dynamic bodies if you are currently using a complex mesh.
  • Review any custom additions to the context menu to ensure they conform to the expected format and registration process.
  • Investigate the context menu and JointWidget.build_items operations for potential inefficiencies or conflicts with other scripts and extensions.

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