Isaac Compute Odometry Node Improperly calculating odometry

Hello,

I’m currently trying to control a custom robot using the nav2 stack.

The robot is a simple two-wheeled differential drive robot which has a closable jaw in the center. I have also added a rotation lidar to it.

I am controlling the robot using the action graph shown below

I have published all the necessary transforms to navigate with lidar. The transform tree for the robot is shown below.
frames_2023-03-28_16.40.14.pdf (24.4 KB)

My problem is the following. Whenever I attempt to send a navigation goal for the robot to move towards, the Isaac Compute Odometry Node begins to randomly change the position values it outputs, causing the odom frame to jump around the map randomly. This causes all child frames to jump around as well, making it so the robot cannot navigate to the goal.

After digging in a bit further, I realized this error would appear at the moment the odom frame jumped to a new position.: Extrapolation Error looking up target frame: Lookup would require extrapolation into the future. Requested time 1680033860.806143 but the latest data is at time 4407.011896, when looking up transform from frame [odom] to frame [map]

I’m unsure why this is happening as I’m using the same Read Simulation Time Graph node for all published transforms.

Why is the odometry graph node jumping all over the place? Any help is appreciated.

Hi @juan17 - Someone from our team will review and answer your question.

Thank you! If more information is needed to understand the problem, please let me know. I’m more than happy to give it.

Hi,

I want to check something first: can you print out the output of the simulation time node, is it advancing as you would expect?

(and by printing out, I mean there should be a “to string” node and “print text” node, string those together and check what comes out of the console tab on the bottom. you may need to adjust the log level in the print text node to make it easier to read)

Of course

Here is a snippet of the output from the Read Simulation Time node:

2023-03-30 18:02:37 [16,149,276ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.73
2023-03-30 18:02:37 [16,149,311ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.77
2023-03-30 18:02:37 [16,149,347ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.8
2023-03-30 18:02:37 [16,149,384ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.83
2023-03-30 18:02:37 [16,149,421ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.87
2023-03-30 18:02:37 [16,149,458ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.9
2023-03-30 18:02:37 [16,149,494ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.93
2023-03-30 18:02:37 [16,149,530ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3294.97
2023-03-30 18:02:37 [16,149,567ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295
2023-03-30 18:02:37 [16,149,605ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.03
2023-03-30 18:02:37 [16,149,642ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.07
2023-03-30 18:02:37 [16,149,678ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.1
2023-03-30 18:02:37 [16,149,714ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.13
2023-03-30 18:02:37 [16,149,751ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.17
2023-03-30 18:02:37 [16,149,787ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.2
2023-03-30 18:02:37 [16,149,824ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.23
2023-03-30 18:02:37 [16,149,860ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.27
2023-03-30 18:02:37 [16,149,897ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.3
2023-03-30 18:02:37 [16,149,935ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.33
2023-03-30 18:02:37 [16,149,971ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.37
2023-03-30 18:02:38 [16,150,009ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.4
2023-03-30 18:02:38 [16,150,044ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.43
2023-03-30 18:02:38 [16,150,080ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.47
2023-03-30 18:02:38 [16,150,118ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.5
2023-03-30 18:02:38 [16,150,154ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.53
2023-03-30 18:02:38 [16,150,191ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.57
2023-03-30 18:02:38 [16,150,227ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.6
2023-03-30 18:02:38 [16,150,263ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.63
2023-03-30 18:02:38 [16,150,300ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.67
2023-03-30 18:02:38 [16,150,337ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.7
2023-03-30 18:02:38 [16,150,374ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.73
2023-03-30 18:02:38 [16,150,410ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.77
2023-03-30 18:02:38 [16,150,446ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.8
2023-03-30 18:02:38 [16,150,483ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.83
2023-03-30 18:02:38 [16,150,520ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.87
2023-03-30 18:02:38 [16,150,558ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.9
2023-03-30 18:02:38 [16,150,593ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.93
2023-03-30 18:02:38 [16,150,630ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3295.97
2023-03-30 18:02:38 [16,150,667ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296
2023-03-30 18:02:38 [16,150,704ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.03
2023-03-30 18:02:38 [16,150,741ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.07
2023-03-30 18:02:38 [16,150,777ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.1
2023-03-30 18:02:38 [16,150,813ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.13
2023-03-30 18:02:38 [16,150,850ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.17
2023-03-30 18:02:38 [16,150,887ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.2
2023-03-30 18:02:38 [16,150,924ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.23
2023-03-30 18:02:38 [16,150,959ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.27
2023-03-30 18:02:39 [16,150,996ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.3
2023-03-30 18:02:39 [16,151,033ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.33
2023-03-30 18:02:39 [16,151,070ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.37
2023-03-30 18:02:39 [16,151,107ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.4
2023-03-30 18:02:39 [16,151,143ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.43
2023-03-30 18:02:39 [16,151,179ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.47
2023-03-30 18:02:39 [16,151,217ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.5
2023-03-30 18:02:39 [16,151,253ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.53
2023-03-30 18:02:39 [16,151,290ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.57
2023-03-30 18:02:39 [16,151,326ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.6
2023-03-30 18:02:39 [16,151,362ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.63
2023-03-30 18:02:39 [16,151,399ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.67
2023-03-30 18:02:39 [16,151,436ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.7
2023-03-30 18:02:39 [16,151,473ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.73
2023-03-30 18:02:39 [16,151,509ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.77
2023-03-30 18:02:39 [16,151,545ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.8
2023-03-30 18:02:39 [16,151,582ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.83
2023-03-30 18:02:39 [16,151,619ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.87
2023-03-30 18:02:39 [16,151,656ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.9
2023-03-30 18:02:39 [16,151,693ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.93
2023-03-30 18:02:39 [16,151,729ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3296.97
2023-03-30 18:02:39 [16,151,767ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297
2023-03-30 18:02:39 [16,151,803ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.03
2023-03-30 18:02:39 [16,151,840ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.07
2023-03-30 18:02:39 [16,151,876ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.1
2023-03-30 18:02:39 [16,151,912ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.13
2023-03-30 18:02:39 [16,151,949ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.17
2023-03-30 18:02:40 [16,151,986ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.2
2023-03-30 18:02:40 [16,152,023ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.23
2023-03-30 18:02:40 [16,152,058ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.27
2023-03-30 18:02:40 [16,152,096ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.3
2023-03-30 18:02:40 [16,152,133ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.33
2023-03-30 18:02:40 [16,152,169ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.37
2023-03-30 18:02:40 [16,152,207ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.4
2023-03-30 18:02:40 [16,152,243ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.43
2023-03-30 18:02:40 [16,152,279ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.47
2023-03-30 18:02:40 [16,152,317ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.5
2023-03-30 18:02:40 [16,152,353ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.53
2023-03-30 18:02:40 [16,152,390ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.57
2023-03-30 18:02:40 [16,152,426ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.6
2023-03-30 18:02:40 [16,152,462ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.63
2023-03-30 18:02:40 [16,152,499ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.67
2023-03-30 18:02:40 [16,152,537ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.7
2023-03-30 18:02:40 [16,152,574ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.73
2023-03-30 18:02:40 [16,152,609ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.77
2023-03-30 18:02:40 [16,152,645ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.8
2023-03-30 18:02:40 [16,152,682ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.83
2023-03-30 18:02:40 [16,152,719ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.87
2023-03-30 18:02:40 [16,152,756ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.9
2023-03-30 18:02:40 [16,152,792ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.93
2023-03-30 18:02:40 [16,152,829ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3297.97
2023-03-30 18:02:40 [16,152,866ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298
2023-03-30 18:02:40 [16,152,903ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.03
2023-03-30 18:02:40 [16,152,939ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.07
2023-03-30 18:02:40 [16,152,976ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.1
2023-03-30 18:02:41 [16,153,012ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.13
2023-03-30 18:02:41 [16,153,049ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.17
2023-03-30 18:02:41 [16,153,086ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.2
2023-03-30 18:02:41 [16,153,123ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.23
2023-03-30 18:02:41 [16,153,158ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.27
2023-03-30 18:02:41 [16,153,195ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.3
2023-03-30 18:02:41 [16,153,232ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.33
2023-03-30 18:02:41 [16,153,269ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.37
2023-03-30 18:02:41 [16,153,306ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.4
2023-03-30 18:02:41 [16,153,342ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.43
2023-03-30 18:02:41 [16,153,379ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.47
2023-03-30 18:02:41 [16,153,417ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.5
2023-03-30 18:02:41 [16,153,454ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.53
2023-03-30 18:02:41 [16,153,490ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.57
2023-03-30 18:02:41 [16,153,527ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.6
2023-03-30 18:02:41 [16,153,564ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.63
2023-03-30 18:02:41 [16,153,601ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.67
2023-03-30 18:02:41 [16,153,638ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.7
2023-03-30 18:02:41 [16,153,674ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.73
2023-03-30 18:02:41 [16,153,709ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.77
2023-03-30 18:02:41 [16,153,746ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.8
2023-03-30 18:02:41 [16,153,783ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.83
2023-03-30 18:02:41 [16,153,820ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.87
2023-03-30 18:02:41 [16,153,855ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.9
2023-03-30 18:02:41 [16,153,892ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.93
2023-03-30 18:02:41 [16,153,928ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3298.97
2023-03-30 18:02:41 [16,153,966ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299
2023-03-30 18:02:42 [16,154,002ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.03
2023-03-30 18:02:42 [16,154,037ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.07
2023-03-30 18:02:42 [16,154,073ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.1
2023-03-30 18:02:42 [16,154,110ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.13
2023-03-30 18:02:42 [16,154,147ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.17
2023-03-30 18:02:42 [16,154,184ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.2
2023-03-30 18:02:42 [16,154,220ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.23
2023-03-30 18:02:42 [16,154,257ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.27
2023-03-30 18:02:42 [16,154,295ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.3
2023-03-30 18:02:42 [16,154,332ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.33
2023-03-30 18:02:42 [16,154,368ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.37
2023-03-30 18:02:42 [16,154,404ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.4
2023-03-30 18:02:42 [16,154,442ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.43
2023-03-30 18:02:42 [16,154,478ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.47
2023-03-30 18:02:42 [16,154,517ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.5
2023-03-30 18:02:42 [16,154,553ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.53
2023-03-30 18:02:42 [16,154,591ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.57
2023-03-30 18:02:42 [16,154,628ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.6
2023-03-30 18:02:42 [16,154,665ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.63
2023-03-30 18:02:42 [16,154,701ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.67
2023-03-30 18:02:42 [16,154,737ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.7
2023-03-30 18:02:42 [16,154,773ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.73
2023-03-30 18:02:42 [16,154,810ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.77
2023-03-30 18:02:42 [16,154,846ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.8
2023-03-30 18:02:42 [16,154,883ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.83
2023-03-30 18:02:42 [16,154,918ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.87
2023-03-30 18:02:42 [16,154,956ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.9
2023-03-30 18:02:43 [16,154,992ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.93
2023-03-30 18:02:43 [16,155,029ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3299.97
2023-03-30 18:02:43 [16,155,066ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300
2023-03-30 18:02:43 [16,155,102ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.03
2023-03-30 18:02:43 [16,155,139ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.07
2023-03-30 18:02:43 [16,155,177ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.1
2023-03-30 18:02:43 [16,155,214ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.13
2023-03-30 18:02:43 [16,155,251ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.17
2023-03-30 18:02:43 [16,155,289ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.2
2023-03-30 18:02:43 [16,155,326ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.23
2023-03-30 18:02:43 [16,155,363ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.27
2023-03-30 18:02:43 [16,155,401ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.3
2023-03-30 18:02:43 [16,155,437ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.33
2023-03-30 18:02:43 [16,155,474ms] [Warning] [omni.graph.ui.ogn.nodes.OgnPrintText] 3300.37
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Is this what you’re looking for?

It is in fact going up one second each second. I doesn’t reset it’s value when I stop the simulation though. Should I be reseting it?

yeah that looks good. I just want to confirm that works as expect. The not resetting thing is expected for now, but your graph doesn’t work even if you never press stop, right?

Sorry. Maybe this will clarify the problem I’m having. The data flow within the graph appears to be working just fine. The problem is the result from the Isaac Compute Odometry Node. The position and orientation values (position in particular) are what seem to jump.

The graph itself seems to be working (at least from what I can tell). My problem is I’m unsure whether the Compute Odometry node is being thrown off by something in my setup.

There error in the terminal references the clock but it may also be how I setup my robot. I have a hunch that perhaps the odometry is being improperly calculated due to poor robot setup.

The only problem is that I don’t know what action graph nodes or rigging on the articulation robot affects how the odometry node calculates the odometry. The documentation I was able to find isn’t very clear on this. Would you be able able to share insight on what the Isaac Compute Odometry Node uses to perform it’s calculations?

Ok! So I got it working. The problem was that the occupancy map I was using was an older version of the environment I’m using currently. I regenerated the occupancy map and now the odometry frame is being corrected properly.

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