Haven't get /cmd_vel when follow ROS2 tutorial

I follow the ROS2 tutorial, ROS2 Import and Drive TurtleBot3. But play to start and haven’t /cmd_vel of topic when I have been open ros2_bright. Has anyone envountered this before?

Example1.usd (8.8 KB)

2022-06-28 15:36:56 [93,923ms] [Warning] [omni.physx.plugin] The rigid body at /World/turtlebot3_burger/base_footprint has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the ‘enable collision’ property.
2022-06-28 15:36:56 [93,923ms] [Warning] [omni.physx.plugin] The rigid body at /World/turtlebot3_burger/imu_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the ‘enable collision’ property.
2022-06-28 15:36:56 [93,924ms] [Warning] [carb.flatcache.plugin] Type tag does not have a corresponding USD type
2022-06-28 15:36:56 [93,933ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error

2022-06-28 15:36:56 [94,070ms] [Warning] [omni.graph.core.plugin] OmniGraph Warning: Prim path expression is invalid, a prim matching the expression needs to created before wrapping it as view
(from compute() at line 105 in /home/dongchan/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/nodes/OgnIsaacArticulationController.py)
2022-06-28 15:36:56 [94,100ms] [Warning] [omni.usd] Warning: in SdfPath at line 97 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error

Hi @dongchanyear,

Your file seems to contain multiple assets that have been added in as references and I am unable to access those.
Could you try collecting your assets (see this tutorial ) and send the resulting folder? Thanks!