From ros2_publish_raw_transform_tree-odom -> base_link Transform in Isaac Sim Affecting Localization During Autonomous Navigation

Omniverse Isaac Sim
1

Isaac Sim Version

4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: Nvidia RTX 4060
  • Driver Version: 550.54.14

Topic Description

Detailed Description

I am currently working on an autonomous navigation project using Isaac Sim, and I have encountered an issue with the robot’s localization within the environment. Despite running the navigation stack, the robot does not get localized properly to the map.

Upon investigation, I inspected the transformation between odom and base_link using the command:
ros2 run tf2_ros tf2_echo odom base_link

I observed that the transformation matrix data is static and does not update dynamically when the robot moves. This static transform prevents SLAM and navigation stacks from accurately estimating the robot’s pose.

Steps to Reproduce

How can I configure Isaac Sim’s ros2_publish_raw_transform_tree node or OmniGraph settings to ensure that the odom -> base_link transform is dynamic and updates with the robot’s motion?

  • The /odom topic is being published in Isaac Sim, but it does not seem to influence the odom -> base_link transform dynamically.
  • The odom -> base_link transform, as seen from the TF tree, remains static regardless of the robot’s motion in the simulation.

Screenshots or Videos

###What I’ve tried
I’ve checked the frame id on tf publisher and also on odom publisher in omnigraph but still the error is persisting.

Related Issues

Additional Context

The articulation root is here is been set to /World/turtlebot3_burger/base_link

3

Hey @richardalbert. Thanks for your video. To publish the TF odom->base_link, you will need the output from Isaac Compute Odometry Node as input to ROS2 Publish Raw Transform Tree so it can get real-time odometry data.

Please refer to the ROS2 navigation example (Isaac Examples → ROS2 → Navigation → Carter Navigation) . It has the action graph transform_tree_odometry under Nova_Carter_ROS.

You can also refer to the tutorial ROS2 Transform Trees and Odometry — Omniverse IsaacSim.

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