Jetson AGX Xavier : Running Ubuntu 20.04 LTS, Jetpack 5.x, ROS2 Foxy, and Isaac sim ROS2 Carter navigation example
Host Computer : Running Ubuntu 20.04 LTS, Jetpack 5.x, ROS2 Foxy, Omniverse Isaac Sim 2021.2.1
- When I export the ROS_DOMAIN_ID on Host/Xavier, I can run the demo_nodes_cpp talker/listner successfully.
- When I run the ROS2 Carter navigation example WITH same ROS_DOMAIN_ID, the map-odom does not launch so the navigation stack does not work. (This holds true with Host-Xavier or Host-Host setup)
- But when I run the ROS2 Carter navigation example WITHOUT ROS_DOMAIN_ID, the example runs with no issues. (Host-Host setup)
- Ran the isaac_sim.sh from the omniverse isaac sim directory making sure /opt/ros/foxy/setup.bash was not sourced; export ROS_DOMAIN_ID, ran the carter navigation example, ran the cart navigation ros2 example on Jetson Xavier, worked till a certain point — i can setup the robot pose but by the time I get to use the navigate to pose, it crashes everytime.
Am I missing somethinge here?
I’ll appreciate for your help/suggestions.