External Extensions : ROS2 Bridge

Hello.

I am trying to run ROS2 navigation tutorial.
I’ve already run ROS1 navigation tutorial successfully.

I couldn’t run ROS2 navigation tutorial.
I followed the instructions below.

  1. Enabled the omni.isaac.ros2_bridge extension from the extension manager menu Windows->Extensions.
  2. Go to Isaac Examples → ROS → Navigation to load the warehouse scenario.
  3. Press Play to begin simulation.

It doesn’t seem to publish ros2 topics.
ros2 topic list prints only these two topics.
/parameter_events
/rosout

In ROS1 navigation tutorial, rostopic list prints
/camera_info_left
/clock
/cmd_vel
/depth_left
/odom
/point_cloud
/rgb_left
/rosout
/rosout_agg
/scan
/tf

I think different ROS_DOMAIN_ID makes this problem.
I wonder what ROS_DOMAIN_ID used in ros2_bridge.

Is there any way to change ROS_DOMAIN_ID?
I’ve already tried to set env variable in terminal before running isaac-sim. (e.g. export ROS_DOMAIN_ID=101)
But it didn’t work as I expected.

Thanks in advance.

I found out that this problem exists in isaac-sim docker.
When I use isaac-sim appImage, it works as I expected.

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.