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Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
GPU Information
- Model: NVIDIA GeForce RTX 3070
- Driver Version: 535.183.01
- CUDA: 11.8
Topic Description
Detailed Description
I’m using IsaacLab to set up a simulation environment in IsaacSim, and I want to publish RGB and depth data from a camera created within IsaacSim as ROS 2 topics.
The problem I’m facing is as follows:
While the simulation environment itself launches correctly when I run the script via IsaacLab, the ROS 2 Bridge does not seem to be enabled. Also, unlike the typical IsaacSim workflow, I can’t seem to access or configure the Action Graph when using IsaacLab.
As a result, I’m not sure how to publish the camera data (RGB and depth) to ROS 2 topics programmatically within the IsaacLab framework.
I would really appreciate guidance on how to enable the ROS 2 Bridge and publish camera data to ROS 2 topics without using Action Graphs.
Environment:
- Using
condaenvironment - IsaacSim installed via
pip - IsaacLab installed via
git clone - ROS: ROS 2 Humble
Script:
import argparse
from isaaclab.app import AppLauncher
parser = argparse.ArgumentParser(description=“TurtleBot3 RGB-D in IsaacLab style.”)
parser.add_argument(“–robot”, type=str, default=“turtlebot3”, help=“Name of the robot.”)
parser.add_argument(“–num_envs”, type=int, default=1, help=“Number of environments to spawn.”)
append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
args_cli = parser.parse_args()
args_cli.experience = “isaacsim.exp.full.kit”
Launch simulator
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
import omni
import torch
import omni.graph.core as og
from omni.isaac.core.utils import stage, extensions
extensions.enable_extension(“isaacsim.ros2.bridge”)
import isaaclab.sim as sim_utils
from isaaclab.assets import AssetBaseCfg
from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
from isaaclab.utils import configclass
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@configclass
class TurtlebotRgbSceneCfg(InteractiveSceneCfg):
ground = AssetBaseCfg(
prim_path=“/World/defaultGroundPlane”,
spawn=sim_utils.GroundPlaneCfg(),
init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)),
)
dome_light = AssetBaseCfg(
prim_path=“/World/Light”,
spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(1.0, 1.0, 1.0)),
)
room = AssetBaseCfg(
prim_path=“{ENV_REGEX_NS}/Room”,
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Simple_Room/simple_room.usd"
),
)
# articulation
if args_cli.robot == "turtlebot3":
robot = AssetBaseCfg(
prim_path="{ENV_REGEX_NS}/TurtleBot",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Turtlebot/turtlebot3_burger.usd"
),
)
else:
raise ValueError(f"Robot {args_cli.robot} is not supported. Valid: franka_panda, ur10")
# camera_container = AssetBaseCfg(
# prim_path="{ENV_REGEX_NS}/Cameras",
# spawn=sim_utils.XFormCfg(),
# )
def _create_camera_prim(prim_path, pos, rot):
from pxr import Gf
import omni.kit.commands
omni.kit.commands.execute(
"CreatePrim",
prim_type="Camera",
prim_path=prim_path,
attributes={
"focusDistance": 400,
"focalLength": 24,
"horizontalAperture": 20.955,
"verticalAperture": 15.2908,
},
)
omni.kit.commands.execute(
"TransformPrimSRT",
path=prim_path,
new_translation=Gf.Vec3d(*pos),
new_rotation_euler=Gf.Vec3d(*rot),
new_scale=Gf.Vec3d(1, 1, 1),
)
def _setup_ros_camera_publishers(camera_prim_paths, render_width=640, render_height=480):
try:
og.Controller.edit(
{“graph_path”: “/ActionGraph”, “evaluator_name”: “execution”},
{
og.Controller.Keys.CREATE_NODES: [
(“OnPlaybackTick”, “omni.graph.action.OnPlaybackTick”),
(“CreateRenderProduct1”, “isaacsim.core.nodes.IsaacCreateRenderProduct”),
(“CreateRenderProduct2”, “isaacsim.core.nodes.IsaacCreateRenderProduct”),
(“RGBPublish1”, “isaacsim.ros2.bridge.ROS2CameraHelper”),
(“DepthPublish1”, “isaacsim.ros2.bridge.ROS2CameraHelper”),
(“RGBPublish2”, “isaacsim.ros2.bridge.ROS2CameraHelper”),
(“DepthPublish2”, “isaacsim.ros2.bridge.ROS2CameraHelper”),
],
og.Controller.Keys.SET_VALUES: [
# Camera 1
(“CreateRenderProduct1.inputs:cameraPrim”, [camera_prim_paths[0]]),
(“CreateRenderProduct1.inputs:width”, render_width),
(“CreateRenderProduct1.inputs:height”, render_height),
(“RGBPublish1.inputs:type”, “rgb”),
(“RGBPublish1.inputs:topicName”, “camera1/rgb”),
(“DepthPublish1.inputs:type”, “depth”),
(“DepthPublish1.inputs:topicName”, “camera1/depth”),
# Camera 2
("CreateRenderProduct2.inputs:cameraPrim", [camera_prim_paths[1]]),
("CreateRenderProduct2.inputs:width", render_width),
("CreateRenderProduct2.inputs:height", render_height),
("RGBPublish2.inputs:type", "rgb"),
("RGBPublish2.inputs:topicName", "camera2/rgb"),
("DepthPublish2.inputs:type", "depth"),
("DepthPublish2.inputs:topicName", "camera2/depth"),
],
og.Controller.Keys.CONNECT: [
# Tick → Render
("OnPlaybackTick.outputs:tick", "CreateRenderProduct1.inputs:execIn"),
("OnPlaybackTick.outputs:tick", "CreateRenderProduct2.inputs:execIn"),
# Render → Publish (Camera 1)
("CreateRenderProduct1.outputs:execOut", "RGBPublish1.inputs:execIn"),
("CreateRenderProduct1.outputs:execOut", "DepthPublish1.inputs:execIn"),
("CreateRenderProduct1.outputs:renderProductPath", "RGBPublish1.inputs:renderProductPath"),
("CreateRenderProduct1.outputs:renderProductPath", "DepthPublish1.inputs:renderProductPath"),
# Render → Publish (Camera 2)
("CreateRenderProduct2.outputs:execOut", "RGBPublish2.inputs:execIn"),
("CreateRenderProduct2.outputs:execOut", "DepthPublish2.inputs:execIn"),
("CreateRenderProduct2.outputs:renderProductPath", "RGBPublish2.inputs:renderProductPath"),
("CreateRenderProduct2.outputs:renderProductPath", "DepthPublish2.inputs:renderProductPath"),
],
},
)
except Exception as e:
print(f"[ERROR] Failed to setup ROS camera publishers: {e}")
import omni.kit.commands
omni.kit.commands.execute(
“CreatePrim”,
prim_type=“Xform”,
prim_path=“/World/Cameras”
)
def run_simulator(sim, scene):
_create_camera_prim(“/World/Cameras/Camera1”, [1, 0, 0.2], [90, 0, 90])
_create_camera_prim(“/World/Cameras/Camera2”, [-3, 1, 1], [-50, -65, -140])
_setup_ros_camera_publishers(["/World/Cameras/Camera1", "/World/Cameras/Camera2"])
print("\nScene setup complete.")
print("Run rqt_image_view to view:")
print(" - /camera1/rgb, /camera1/depth")
print(" - /camera2/rgb, /camera2/depth")
while simulation_app.is_running():
sim.step()
scene.update(sim.get_physics_dt())
def main():
sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
# sim.set_camera_view([2.5, 2.5, 2.5], [0, 0, 0])
scene_cfg = TurtlebotRgbSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
scene = InteractiveScene(scene_cfg)
sim.reset()
print("[INFO]: TurtleBot RGB-D setup complete.")
run_simulator(sim, scene)
if name == “main”:
main()
simulation_app.close()
Error Messages
(re_isaaclab) chem@chem:~/IsaacLab$ python ~/IsaacLab/dualarm_pkg/ros2_tutorial/src/turtlebot_rgbd_test2.py
[INFO][AppLauncher]: Loading experience file: /home/chem/IsaacLab/apps/isaaclab.python.kit
[Warning] [simulation_app.simulation_app] Modules: [‘omni.kit_app’] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(…)
Loading user config located at: ‘/home/chem/anaconda3/envs/re_isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.5/user.config.json’
[Info] [carb] Logging to file: /home/chem/anaconda3/envs/re_isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.5/kit_20250423_225319.log
2025-04-23 13:53:19 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn’t available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 535.183.01 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3070 | Yes: 0 | | 8438 MB | 10de | 0 |
| | | | | | 2484 | f7336e6b.. |
| | | | | | 6 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-57-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: AMD Ryzen 7 5700X 8-Core Processor
| Cores: 8 | Logical Cores: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32008 | Free Memory: 22017
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
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[4.099s] [ext: omni.kit.window.extensions-1.4.25] startup
[4.109s] [ext: omni.sensors.nv.materials-1.4.0-coreapi] startup
[4.113s] [ext: omni.replicator.core-1.11.35] startup
2025-04-23 13:53:23 [4,239ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[4.258s] [ext: isaacsim.core.api-4.2.16] startup
[4.284s] [ext: isaacsim.gui.components-1.0.9] startup
[4.290s] [ext: omni.sensors.nv.ids-1.4.0-coreapi] startup
[4.296s] [ext: isaacsim.core.nodes-2.1.4] startup
[4.303s] [ext: isaacsim.robot.surface_gripper-2.0.6] startup
[4.310s] [ext: omni.sensors.nv.lidar-2.6.3-coreapi] startup
[4.316s] [ext: omni.sensors.nv.radar-2.6.1-coreapi] startup
[4.324s] [ext: omni.kit.manipulator.transform-106.0.1] startup
[4.346s] [ext: omni.kit.widget.toolbar-1.7.3] startup
[4.366s] [ext: isaacsim.robot.manipulators-3.0.4] startup
[4.373s] [ext: omni.kit.widget.prompt-1.0.7] startup
[4.375s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[4.379s] [ext: isaacsim.util.debug_draw-2.0.2] startup
[4.387s] [ext: omni.kit.manipulator.tool.snap-1.5.12] startup
[4.401s] [ext: omni.sensors.tiled-0.0.6] startup
[4.404s] [ext: omni.kit.tool.asset_importer-2.12.2] startup
[4.410s] [ext: isaacsim.sensors.camera-0.2.9] startup
[4.417s] [ext: isaacsim.sensors.physx-2.2.4] startup
[4.425s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[4.429s] [ext: isaacsim.sensors.rtx-13.6.3] startup
[4.436s] [ext: isaacsim.asset.importer.mjcf-2.3.3] startup
[4.510s] [ext: omni.anim.curve.core-1.2.0] startup
[4.519s] [ext: omni.fabric.commands-1.1.5] startup
[4.522s] [ext: omni.kit.manipulator.prim.core-107.0.7] startup
[4.527s] [ext: omni.graph.ui_nodes-1.40.1] startup
[4.531s] [ext: omni.kit.selection-0.1.5] startup
[4.533s] [ext: omni.kit.manipulator.camera-106.0.3] startup
[4.539s] [ext: isaacsim.simulation_app-2.4.2] startup
[4.540s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[4.541s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[4.543s] [ext: omni.kit.menu.edit-1.1.25] startup
[4.546s] [ext: omni.debugdraw-0.1.3] startup
[4.550s] [ext: omni.kit.widget.zoombar-1.0.5] startup
[4.551s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[4.556s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[4.556s] [ext: omni.kit.menu.file-1.1.15] startup
[4.559s] [ext: omni.kit.property.audio-1.0.16] startup
[4.561s] [ext: omni.kit.widget.stage_icons-1.0.6] startup
[4.563s] [ext: omni.kit.browser.core-2.3.11] startup
[4.569s] [ext: omni.kit.usd.collect-2.2.22] startup
[4.574s] [ext: omni.kit.window.stage-2.5.11] startup
[4.577s] [ext: omni.kit.browser.folder.core-1.10.1] startup
[4.581s] [ext: omni.kit.viewport.actions-107.0.0] startup
[4.585s] [ext: omni.kit.tool.collect-2.2.16] startup
[4.588s] [ext: omni.kit.menu.stage-1.2.5] startup
[4.589s] [ext: omni.kit.widget.layers-1.8.2] startup
[4.598s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[4.600s] [ext: isaacsim.sensors.physics-0.3.5] startup
[4.604s] [ext: isaacsim.examples.browser-0.1.8] startup
[4.610s] [ext: omni.usdphysics.ui-106.5.7] startup
[4.634s] [ext: omni.kit.stagerecorder.core-105.0.5] startup
[4.637s] [ext: omni.hydra.scene_api-0.1.2] startup
[4.641s] [ext: omni.kit.property.geometry-1.3.3] startup
[4.643s] [ext: omni.kit.property.render-1.1.3] startup
[4.645s] [ext: omni.kit.stagerecorder.ui-105.0.6] startup
[4.647s] [ext: omni.kit.property.transform-1.5.10] startup
[4.650s] [ext: omni.kit.property.material-1.10.17] startup
[4.655s] [ext: omni.kit.property.light-1.0.11] startup
[4.656s] [ext: omni.kit.property.camera-1.0.9] startup
[4.658s] [ext: omni.physx.commands-106.5.7] startup
[4.661s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
[4.661s] [ext: omni.kit.property.bundle-1.3.2] startup
[4.662s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
[4.663s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
[4.681s] [ext: omni.physx.ui-106.5.7] startup
[4.704s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[4.709s] [ext: omni.kit.window.toolbar-1.6.2] startup
[4.712s] [ext: omni.physx.demos-106.5.7] startup
[4.726s] [ext: omni.kit.property.physx-106.5.7] startup
[4.764s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[4.767s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
[4.772s] [ext: omni.physx.cct-106.5.7] startup
[4.784s] [ext: omni.physx.vehicle-106.5.7] startup
[4.813s] [ext: omni.physx.graph-106.5.7] startup
[4.826s] [ext: omni.physx.supportui-106.5.7] startup
[4.841s] [ext: omni.physx.telemetry-106.5.7] startup
[4.846s] [ext: omni.rtx.window.settings-0.6.17] startup
[4.851s] [ext: omni.physx.camera-106.5.7] startup
[4.863s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
[4.866s] [ext: omni.kit.window.console-0.2.14] startup
[4.874s] [ext: omni.usd.metrics.assembler-106.5.0] startup
[4.880s] [ext: omni.kit.window.status_bar-0.1.7] startup
[4.883s] [ext: omni.physx.bundle-106.5.7] startup
[4.884s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
[4.895s] [ext: omni.rtx.settings.core-0.6.3] startup
[4.900s] [ext: isaacsim.robot_motion.lula-4.0.4] startup
[4.909s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[4.914s] [ext: isaacsim.asset.browser-1.3.4] startup
[4.961s] [ext: isaacsim.gui.menu-2.0.9] startup
2025-04-23 13:53:23 [4,948ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:‘New’>, <MenuItemDescription name:‘Open’>, <MenuItemDescription name:‘Re-open with New Edit Layer’>, <MenuItemDescription name:‘Save’>, <MenuItemDescription name:‘Save With Options’>, <MenuItemDescription name:‘Save As…’>, <MenuItemDescription name:‘Save Flattened As…’>, <MenuItemDescription name:‘Add Reference’>, <MenuItemDescription name:‘Add Payload’>, <MenuItemDescription name:‘Exit’>] cannot change delegate
[4.966s] [ext: omni.kit.ui.actions-1.0.2] startup
[4.969s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[4.973s] [ext: isaacsim.robot_motion.motion_generation-8.0.6] startup
[4.977s] [ext: isaaclab-0.36.6] startup
[5.126s] [ext: isaaclab_assets-0.2.1] startup
[5.292s] [ext: isaaclab_tasks-0.10.27] startup
[6.414s] [ext: omni.kit.menu.common-1.1.9] startup
[6.415s] [ext: isaaclab_rl-0.1.4] startup
[6.416s] [ext: isaaclab_mimic-1.0.3] startup
[6.416s] [ext: isaaclab.python-2.0.2] startup
[6.418s] Simulation App Starting
2025-04-23 13:53:25 [6,697ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 8448000128
2025-04-23 13:53:25 [6,697ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-04-23 13:53:25 [6,697ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 8363520384
2025-04-23 13:53:25 [6,697ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 8508328 (slope: 503, intercept: 13181056)
2025-04-23 13:53:25 [6,697ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4286378240
2025-04-23 13:53:25 [6,697ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
[6.892s] app ready
2025-04-23 13:53:25 [6,882ms] [Warning] [omni.usd-abi.plugin] No setting was found for ‘/rtx-defaults-transient/meshlights/forceDisable’
[9.704s] Simulation App Startup Complete
2025-04-23 13:53:28 [9,785ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:28 [9,786ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
[9.811s] [ext: omni.physx.fabric-106.5.7] startup
2025-04-23 13:53:28 [9,801ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:28 [9,801ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:28 [9,801ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:28 [9,801ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:28 [9,801ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:28 [9,801ms] [Warning] [omni.usd] Warning: in SdfPath at line 81 of /builds/omniverse/usd-ci/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error
2025-04-23 13:53:31 [12,034ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE /builds/omniverse/physics/physx/source/geomutils/src/cooking/GuCookingConvexMesh.cpp, LINE 124
2025-04-23 13:53:31 [12,037ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE /builds/omniverse/physics/physx/source/geomutils/src/cooking/GuCookingConvexMesh.cpp, LINE 124
2025-04-23 13:53:34 [15,130ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/TurtleBot/base_footprint/visuals.proto_mesh_id1 that has not been populated
[INFO]: TurtleBot RGB-D setup complete.
[ERROR] Failed to setup ROS camera publishers: OmniGraphError: Could not create node using unrecognized type ‘isaacsim.ros2.bridge.ROS2CameraHelper’. Perhaps the extension ‘isaacsim.ros2.bridge’ is not loaded?
Scene setup complete.
Run rqt_image_view to view:
- /camera1/rgb, /camera1/depth
- /camera2/rgb, /camera2/depth
Screenshots or Videos
Additional Information
What I’ve Tried
(Describe any troubleshooting steps you’ve already taken)
Related Issues
IsaacLab with ROS2 Humble
Additional Context
(Add any other context about the problem here)