How to use the tool "ROS_Teleport" in Isaac sim?

[ableho01]

Hello,

I would like to manipulate a cube in Isaac Sim by ROS.
There is a tool called “ROS_Teleport”. It seems that it can help me to move objects in Isaac Sim by ROS.
After adding it into the Isaac Sim. I select a Cube as teleportPrims and start the simulation.
By using the rosservice list. I can saw there’s a rosservice called “teleport_pose” is running.
Then, I typed in the command below in a terminal.

rosservice call /teleport_pos "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: 'Cube'
names: ['Cube']
poses:
- position: {x: 0.0, y: 0.0, z: 0.1}
  orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0}
velocities:
- linear: {x: 0.0, y: 0.0, z: 0.0}
  angular: {x: 0.0, y: 0.0, z: 0.0}
scales:
- {x: 1.0, y: 1.0, z: 1.0}"

And it returns an error

ERROR: service [/teleport_pos] responded with an error: b''

And of cource the cube doesn’t move in Isaac Sim.
Does any one understand how to use the service correctly?
Please help.

[toni.sm]

Hi @ableho01

Make sure you are using the prim’s full path instead of the prim’s name when calling the service

For example, according to the stage shown in the images: '/World/Cube'

rosservice call /teleport_pos "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: 'Cube'
names: ['/World/Cube']
poses:
- position: {x: 0.0, y: 0.0, z: 0.1}
  orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0}
velocities:
- linear: {x: 0.0, y: 0.0, z: 0.0}
  angular: {x: 0.0, y: 0.0, z: 0.0}
scales:
- {x: 1.0, y: 1.0, z: 1.0}"

[ableho01]

Sorry for late reply.
It works!
Thanks a lot!!