I want to get the imu topic using ros2 in isaac sim.
I followed the tutorial (’ Multiple Robot ROS2 Navigation’) and can get the sensor topic(camera, lidar) using ros2.
But In action graph, i couldn’t find the imu nodes for getting imu topic.
By any chance, Is there any way to get the IMU topic using ros2?
I am facing almost the same question with you.
I would appreciate it if someone could tell me how to publish imu topic in action graph. 1300802319@qq.com
Thank you!!!
Thanks for you quick reply.
By carefully reading the document. I know that i can use omni.isaac.isaac_sensor to get imu date.
So I added a imu in my robot and saved it as a .usd. Then I tried to write a py to publish it as a ros imu topic.
But when i tried to run the ./python.sh exts/omni.isaac.quadruped/omni/isaac/quadruped/robots/imu.py in lch@lch:~/.local/share/ov/pkg/isaac_sim-2022.1.0$.
Error appears:
File “exts/omni.isaac.quadruped/omni/isaac/quadruped/robots/imu.py”, line 6, in
from omni.isaac.isaac_sensor import _isaac_sensor
File “/home/lch/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.isaac_sensor/omni/isaac/isaac_sensor/init.py”, line 10, in
from .scripts.extension import *
File “/home/lch/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.isaac_sensor/omni/isaac/isaac_sensor/scripts/extension.py”, line 15, in
from .menu import IsaacSensorMenu
File “/home/lch/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.isaac_sensor/omni/isaac/isaac_sensor/scripts/menu.py”, line 13, in
from pxr import Sdf, UsdGeom, Gf
File “/home/lch/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/extscore/omni.usd.libs/pxr/Sdf/init.py”, line 24, in
from . import _sdf
ImportError: /home/lch/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/extscore/omni.usd.libs/bin/libjs.so: undefined symbol: _ZN32pxrInternal_v0_20__pxrReserved__18Tf_PostErrorHelperERKNS_13TfCallContextENS_16TfDiagnosticTypeEPKcz
There was an error running python.
I really don’t know how to fix it. I would highly appreciate it if you could help me.
Thanks!