Host-Orin HIL setup issue with carter_navigation

Hello,

My current setup is Host running Isaac Sim and Target Jetson AGX Orin.
I can run many example running only on Host or only on AGX Orin just fine.
Many other works in Host-Target find too.

My issue is with Host-Target setup running carter_navigation example. The issue is when I run the carter_navigation example, the map does not load. I cannot manually load the map either.

TARGET (Orin) Terminal: ros2 launch carter_navigation carter_navigation.launch.py

[component_container_isolated-1] [INFO] [1657526640.908545647] [lifecycle_manager_navigation]: Activating planner_server
[component_container_isolated-1] [INFO] [1657526640.909216343] [planner_server]: Activating
[component_container_isolated-1] [INFO] [1657526640.909337592] [global_costmap.global_costmap]: Activating
[component_container_isolated-1] [INFO] [1657526640.909375896] [global_costmap.global_costmap]: Checking transform
[component_container_isolated-1] [INFO] [1657526640.909457497] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526641.409535254] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1657526641.694507888] [local_costmap.local_costmap]: Can’t update static costmap layer, no map received
[component_container_isolated-1] [INFO] [1657526641.909691060] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526642.409529101] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526642.909511016] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526643.409512417] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1657526643.694473977] [local_costmap.local_costmap]: Can’t update static costmap layer, no map received
[component_container_isolated-1] [INFO] [1657526643.909509434] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526644.409514483] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526644.909513546] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1657526645.409521185] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1657526645.694491576] [local_costmap.local_costmap]: Can’t update static costmap layer, no map received

HOST Computer (Running Isaac SIM and rviz2):

[INFO] [1657527119.546643197] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.183 for reason ‘Unknown’
[INFO] [1657527119.546721460] [rviz]: Message Filter dropping message: frame ‘odom’ at time 617.583 for reason ‘Unknown’
[INFO] [1657527119.578666600] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.200 for reason ‘Unknown’
[INFO] [1657527119.610830819] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.233 for reason ‘Unknown’
[INFO] [1657527119.642445131] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.267 for reason ‘Unknown’
[INFO] [1657527119.674774154] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.300 for reason ‘Unknown’
[INFO] [1657527119.706890441] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.317 for reason ‘Unknown’
[INFO] [1657527119.738675616] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.367 for reason ‘Unknown’
[INFO] [1657527119.769980410] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.400 for reason ‘Unknown’
[INFO] [1657527119.770060435] [rviz]: Message Filter dropping message: frame ‘odom’ at time 617.783 for reason ‘Unknown’
[INFO] [1657527119.802486260] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.450 for reason ‘Unknown’
[INFO] [1657527119.834200514] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.467 for reason ‘Unknown’
[INFO] [1657527119.842479254] [lifecycle_manager_navigation_service_client]: Waiting for the lifecycle_manager_navigation/is_active service…
[INFO] [1657527119.842594934] [lifecycle_manager_navigation_service_client]: Sending lifecycle_manager_navigation/is_active request
[INFO] [1657527119.866331073] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.483 for reason ‘Unknown’
[INFO] [1657527119.898492325] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.517 for reason ‘Unknown’
[INFO] [1657527119.930230439] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.567 for reason ‘Unknown’
[INFO] [1657527119.962218020] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.583 for reason ‘Unknown’
[INFO] [1657527119.962307817] [rviz]: Message Filter dropping message: frame ‘odom’ at time 617.983 for reason ‘Unknown’
[INFO] [1657527119.994288821] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.633 for reason ‘Unknown’
[INFO] [1657527120.026820367] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.667 for reason ‘Unknown’
[INFO] [1657527120.058009144] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.683 for reason ‘Unknown’
[INFO] [1657527120.090136651] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.700 for reason ‘Unknown’
[INFO] [1657527120.122343451] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.750 for reason ‘Unknown’
[INFO] [1657527120.154842719] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.783 for reason ‘Unknown’
[INFO] [1657527120.154976586] [rviz]: Message Filter dropping message: frame ‘odom’ at time 618.183 for reason ‘Unknown’
[INFO] [1657527120.186428629] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.833 for reason ‘Unknown’
[INFO] [1657527120.222069337] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.850 for reason ‘Unknown’
[INFO] [1657527120.250415270] [rviz]: Message Filter dropping message: frame ‘carter_lidar’ at time 619.867 for reason ‘Unknown’
,
HOST Computer (Isaac SIM) - map load
host@alien:~/ws_ros2_sim/src/navigation/carter_navigation/maps$ ros2 service call /map_server/load_map nav2_msgs/srv/LoadMap “{map_url:carter_warehouse_navigation.yaml}”
Failed to populate field: ‘LoadMap_Request’ object has no attribute ‘map_url:carter_warehouse_navigation.yaml’

Google search suggestions not help yet.

Thanks

Hi, Is your ROS_DOMAIN_ID same for Host and Target ?

@naitik.nakrani

Have you able to run the carter_navigation on Jetson while running Isaac sim on Host computer?

It is not ROS_DOMAIN_ID issue (I didn’t even set it - works good) since I can run isaac_apriltag (Target-Host) just fine. Even when I run the carter_navigation (Target-Host) setup, everything seems to be communicating okay except the erros I mentioned earlier.

More digging seems to me has to do with humble navigation not fully working yet (unless it is working for you then please tell me what you did).

I made some changes following the suggestions (see links below)
for example, changing the yaml file entry from

robot_model_type:“differential”
to
robot_model_type:“nav2_DifferentialMotionModel”

helped me see the map as if it was working properly. but when I tried to navigate the robot, I got error related to bt_navigator (see link for the cause)

So for now still trying to get it working properly.

@naitik.nakrani
BTW: I can run carter_navigation example on ROS2-foxy on Jetson-Orin while Isaac SIM running on host computer just fine.