Flatsim Reverse Engineering

I’m trying to recreate flatsim from scratch by using gems provided, more particularly for now to get data from fake lidar from isaac.flatsim.SimRangeScan. According to Docs it only send Flatscan Proto (i presume based on initial lidar_initialization). I’ve created Listener on this proto and created edge in json file to make sure i can catch this message. Interestingly enough i see it ticking in WebSight but i never receive any message on listener side. Without source code with everything being precompiled it is hard to debug, but i guess during body of isaac.flatsim.SimRangeScan Codelet it fails for some reason(wrong initialization, looks for something , etc.) .

json file is provided
{
“name”: “flatSimC”,
“modules”: [
“//Python/flatSimC:flatSimCDeps”,
“flatsim”,
“imu”,
“map”,
“navigation”,
“planner”,
“sight”,
“viewers”

],

“graph”: {
“nodes”: [
{
“name”: “simulation”,
“subgraph”: “packages/flatsim/apps/2d_differential_base_simulation.subgraph.json”
},
{
“name”: “pong”,
“components”: [
{
“name”: “message_ledger”,
“type”: “isaac::alice::MessageLedger”
},
{
“name”: “pong”,
“type”: “isaac::Pong”
}
]
}

,
    {
  "name": "map",
  "start_order": -100,
  "components": [
    {
      "name": "isaac.map.Map",
      "type": "isaac::map::Map"
    },
    {
      "name": "map",
      "type": "isaac::navigation::NavigationMap"
    },
    {
      "name": "occupancy",
      "type": "isaac::map::OccupancyGridMapLayer"
    },
    {
      "name": "waypoints",
      "type": "isaac::map::WaypointMapLayer"
    },
    {
      "name": "restricted_area",
      "type": "isaac::map::PolygonMapLayer"
    }
  ]
},
 {
    "name": "obstacle_atlas",
    "components": [
      {
        "name": "obstacle_atlas",
        "type": "isaac::map::ObstacleAtlas"
      }
    ]
  },
 {
    "name": "sim_range_scan",
    "components": [
      {
        "name": "isaac.flatsim.SimRangeScan",
        "type": "isaac::flatsim::SimRangeScan"
      },
      {
        "name": "lidar_initializer",
        "type": "isaac::alice::PoseInitializer"
      },
      {
        "name": "message_ledger",
        "type": "isaac::alice::MessageLedger"
      }
    ]
  }


]

,
“edges”: [

  {
    "source": "sim_range_scan/isaac.flatsim.SimRangeScan/flatscan",
    "target": "pong/pong/trigger"
  } 
]

},
“config”: {
“sim_range_scan”: {
“isaac.flatsim.SimRangeScan”: {
“num_beams”: 900,
“tick_period”: “1s”
},
“lidar_initializer”: {
“lhs_frame”: “robot”,
“pose”: [
1.0,
0.0,
0.0,
0.0,
-0.04,
0.0,
0.0
],
“rhs_frame”: “lidar”
}
},
“flatSimPyNode”: {
“flatSimReceiver”:{
“config”: {
“message”: “flatSimPy MOCKUP”,
“tick_period”: “5s”
}
}
},
“map”: {
“occupancy”: {
“cell_size”: 0.1,
“filename”: “Python/flatSimC/nvidia_R_180306.png”
},
“waypoints”: {
“vis_cell_size”: 0.1,
“waypoints”: {
“kitchen”: {
“pose”: [1,0,0,0,45.0,20.3,0],
“color”: [255,128,0]
},
“atrium”: {
“pose”: [1,0,0,0,36.2,29.4,0],
“color”: [32,220,64]
},
“david_desk”: {
“pose”: [1,0,0,0,39.3,15.9,0],
“color”: [220,16,16],
“radius”: 0.5
},
“column hallway”: {
“pose”: [1,0,0,0,16.9,19.5,0],
“color”: [230,16,230],
“radius”: 1.5
}
},
“tick_period”: “1.0”
},
“restricted_area”: {
“polygons”: {
“atrium”: {
“points”: [
[30.4, 33.0],
[42.5, 31.0],
[43.3, 36.9],
[42.8, 36.9],
[42.0, 31.5],
[30.4, 33.5]
]
}
},
“tick_period”: “1Hz”
}
}
}
}

Solved. I had to add poseinitializer for pose robot_init