Isaac fails to connect unity simulator

I’m trying to run navsim with isaac by starting the scripts found in the documentation here:

https://docs.nvidia.com/isaac/isaac/doc/simulation/unity3d.html#warehouse-navigation

However, the isaac process has an issue connecting to the unity simulator. After running both commands in the documentation, I end up here:

2020-02-07 23:43:04.172 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:04.673 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:05.173 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.

The same issue is present on a cloud server and on my local linux PC (both running ubuntu 18.04 with nvidia hardware, the latest drivers, and all requirements.

Below are the output from both both processes.

Unity:

$ /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse
Found path: /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64
Mono path[0] = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/Managed'
Mono config path = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/MonoBleedingEdge/etc'
Preloaded 'libSubstance.Engine.so'
Preloaded 'libsubstance_sse2_blend.so'
Preloaded 'ScreenSelector.so'
Logging to /home/ubuntu/.config/unity3d/NVIDIA/Isaac SDK - IsaacSim Unity3D/Player.log

Isaac:

$ cd ~/isaac && bazel run //apps/navsim:navsim_navigate
Starting local Bazel server and connecting to it...
WARNING: /home/ubuntu/isaac/packages/ml/BUILD:15:12: in srcs attribute of cc_binary rule //packages/ml:libml_module.so: please do not import '//packages_x86_64/ml:libml_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
WARNING: /home/ubuntu/isaac/packages/perception/BUILD:34:12: in srcs attribute of cc_binary rule //packages/perception:libperception_module.so: please do not import '//packages_x86_64/perception:libperception_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
WARNING: /home/ubuntu/isaac/packages/viewers/BUILD:14:12: in srcs attribute of cc_binary rule //packages/viewers:libviewers_module.so: please do not import '//packages_x86_64/viewers:libviewers_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
INFO: Analysed target //apps/navsim:navsim_navigate (97 packages loaded, 5479 targets configured).
INFO: Found 1 target...
Target //apps/navsim:navsim_navigate up-to-date:
  bazel-bin/apps/navsim/navsim_navigate
INFO: Elapsed time: 28.023s, Critical Path: 2.41s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
INFO: Build completed successfully, 1 total action
2020-02-07 23:43:03.144 INFO  engine/alice/tools/websight.cpp@166: Loading websight...
2020-02-07 23:43:03.145 WARN  engine/alice/backend/application_json_loader.cpp@171: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2020-02-07 23:43:03.146 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'simulation': navsim, ml, perception, utils, 
2020-02-07 23:43:03.146 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'noiser': (navsim), 
2020-02-07 23:43:03.148 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'navigation': map, navigation, planner, (sight), 
2020-02-07 23:43:03.149 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'local_map': (navigation), 
2020-02-07 23:43:03.150 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'go_to': (navigation), (viewers), 
2020-02-07 23:43:03.151 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'planner': (navigation), (planner), 
2020-02-07 23:43:03.152 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'control': (navigation), (planner), 
2020-02-07 23:43:03.152 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'localization': (navigation), (utils), (viewers), 
2020-02-07 23:43:03.153 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'imu_odometry': imu, (navigation), 
2020-02-07 23:43:03.154 INFO  engine/alice/backend/application_json_loader.cpp@340: Modules requested by subgraph 'goals': (navigation), 
2020-02-07 23:43:03.156 WARN  engine/alice/backend/backend.cpp@183: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2020-02-07 23:43:03.156 WARN  engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 4 remaining cores. This may be non optimal for the system and application.
2020-02-07 23:43:03.156 INFO  engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2020-02-07 23:43:03.157 INFO  engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [3], Workers = No
2020-02-07 23:43:03.157 INFO  engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2], Workers = Yes
2020-02-07 23:43:03.168 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/imu/libimu_module.so': Now has 50 components total
2020-02-07 23:43:03.175 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/map/libmap_module.so': Now has 57 components total
2020-02-07 23:43:03.356 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/ml/libml_module.so': Now has 82 components total
2020-02-07 23:43:03.367 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/navigation/libnavigation_module.so': Now has 119 components total
2020-02-07 23:43:03.378 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/navsim/libnavsim_module.so': Now has 122 components total
2020-02-07 23:43:03.396 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/perception/libperception_module.so': Now has 133 components total
2020-02-07 23:43:03.417 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/planner/libplanner_module.so': Now has 142 components total
2020-02-07 23:43:03.435 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/sight/libsight_module.so': Now has 144 components total
2020-02-07 23:43:03.453 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/utils/libutils_module.so': Now has 155 components total
2020-02-07 23:43:03.474 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/viewers/libviewers_module.so': Now has 173 components total
2020-02-07 23:43:03.475 INFO  engine/alice/application.cpp@282: Loaded 173 components: isaac::alice::Behavior, isaac::alice::ChannelMonitor, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::MessageLedger, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::alice::behaviors::Behavior, isaac::alice::behaviors::MemorySelectorBehavior, isaac::alice::behaviors::MemorySequenceBehavior, isaac::alice::behaviors::NodeGroup, isaac::alice::behaviors::ParallelBehavior, isaac::alice::behaviors::SwitchBehavior, isaac::alice::behaviors::TimerBehavior, isaac::imu::IioBmi160, isaac::imu::ImuCalibration2D, isaac::imu::ImuCorrector, isaac::imu::ImuSim, isaac::map::Map, isaac::map::MapBridge, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::Spline, isaac::map::WaypointMapLayer, isaac::ml::ColorCameraEncoderCpu, isaac::ml::ColorCameraEncoderCuda, isaac::ml::ConfusionMatrixAggregator, isaac::ml::Detection3Encoder, isaac::ml::DetectionDecoder, isaac::ml::DetectionEncoder, isaac::ml::DetectionImageExtraction, isaac::ml::Detections3Comparer, isaac::ml::FilterDetectionsByLabel, isaac::ml::GenerateKittiDataset, isaac::ml::HeatmapDecoder, isaac::ml::HeatmapEncoder, isaac::ml::LabelToBoundingBox, isaac::ml::ResizeDetections, isaac::ml::RigidbodyToDetections3, isaac::ml::SampleAccumulator, isaac::ml::SegmentationComparer, isaac::ml::SegmentationDecoder, isaac::ml::SegmentationEncoder, isaac::ml::Teleportation, isaac::ml::TensorArgMax, isaac::ml::TensorChannelSum, isaac::ml::TensorRTInference, isaac::ml::TensorReshape, isaac::ml::TensorSynchronization, isaac::navigation::BinaryToDistanceMap, isaac::navigation::CollisionMonitor, isaac::navigation::DetectionsToAtlas, isaac::navigation::DifferentialBaseOdometry, isaac::navigation::DifferentialBaseWheelImuOdometry, isaac::navigation::DistanceMap, isaac::navigation::FollowPath, isaac::navigation::GoToBehavior, isaac::navigation::GoalMonitor, isaac::navigation::GradientDescentLocalization, isaac::navigation::GridSearchLocalizer, isaac::navigation::GroupSelectorBehavior, isaac::navigation::HolonomicBaseWheelImuOdometry, isaac::navigation::LocalMap, isaac::navigation::LocalizationEvaluation, isaac::navigation::LocalizeBehavior, isaac::navigation::MapWaypointAsGoal, isaac::navigation::MapWaypointAsGoalSimulator, isaac::navigation::MoveAndScan, isaac::navigation::MoveUntilArrival, isaac::navigation::NavigationMap, isaac::navigation::NavigationMonitor, isaac::navigation::OccupancyMapCleanup, isaac::navigation::OccupancyToBinaryMap, isaac::navigation::ParticleFilterLocalization, isaac::navigation::ParticleSwarmLocalization, isaac::navigation::Patrol, isaac::navigation::PoseAsGoal, isaac::navigation::RandomMapPoseSampler, isaac::navigation::RandomWalk, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::navigation::RangeScanToObservationMap, isaac::navigation::RobotPoseGenerator, isaac::navigation::RobotRemoteControl, isaac::navigation::RobotViewer, isaac::navigation::SelectorBehavior, isaac::navigation::TravellingSalesman, isaac::navigation::VirtualGamepadBridge, isaac::navsim::FlatscanNoiser, isaac::navsim::ScenarioManager, isaac::navsim::ScenarioMonitor, isaac::perception::BirdViewProjection, isaac::perception::CropAndDownsample, isaac::perception::CropAndDownsampleCuda, isaac::perception::EstimateGroundPlane, isaac::perception::EstimateObstacleDistances, isaac::perception::FiducialAsGoal, isaac::perception::ImageWarp, isaac::perception::PointCloudAccumulator, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::planner::DifferentialBaseControl, isaac::planner::DifferentialBaseLqrPlanner, isaac::planner::DifferentialBaseModel, isaac::planner::DifferentialBaseStop, isaac::planner::GlobalPlanSmoother, isaac::planner::GlobalPlanner, isaac::planner::HolonomicBaseControl, isaac::planner::HolonomicBaseLqrPlanner, isaac::planner::SphericalRobotShapeComponent, isaac::sight::AliceSight, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::utils::DetectionUnprojection, isaac::utils::DetectionsToPoseTree, isaac::utils::DifferentialTrajectoryToPlanConverter, isaac::utils::FlatscanToPointCloud, isaac::utils::Plan2Converter, isaac::utils::Pose2GaussianDistributionEstimation, isaac::utils::PoseMonitor, isaac::utils::PoseTreeFeed, isaac::utils::RigidBodiesToDetections, isaac::utils::SendTextMessages, isaac::utils::WaitUntilDetection, isaac::viewers::BinaryMapViewer, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::PointCloudViewer, isaac::viewers::SampleAccumulatorViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorListViewer, isaac::viewers::TrajectoryListViewer, 
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'websight'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_config_bridge'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_statistics'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_pose_tree_bridge'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_interactive_markers_bridge'
2020-02-07 23:43:03.475 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.interface'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.noiser.lidar'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.pose_injector'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.scenario_manager'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.scan_flattener'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.bounding_boxes'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'simulation.plan_converter'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.subgraph'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.local_map.subgraph'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.local_map.range_scan_to_observation_map'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.local_map.local_map'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.subgraph'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.goal_viewer'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.goal_monitor'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.go_to_behavior'
2020-02-07 23:43:03.476 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.go_to.move_until_arrival'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.planner.subgraph'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.planner.global_plan'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.planner.global_plan_smoother'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.subgraph'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.lqr'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.control'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.stop'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.control.navigation_mode'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.subgraph'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.global_localization'
2020-02-07 23:43:03.477 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.scan_localization'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.localization_evaluation'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.robot_pose_initializer'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.localization.localize'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.imu_odometry.subgraph'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.imu_odometry.odometry'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.imu_odometry.imu_corrector'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.obstacle_atlas'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.shared_robot_model'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'navigation.sight_widgets'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.subgraph'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.random_walk'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.waypoint_as_goal'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.pose_as_goal'
2020-02-07 23:43:03.478 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.patrol'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'goals.goal_behavior'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'camera_viewer'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'behavior_main'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'pose_initializers'
2020-02-07 23:43:03.479 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'map'
2020-02-07 23:43:03.479 WARN  engine/alice/application.cpp@160: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2020-02-07 23:43:03.479 INFO  engine/alice/application.cpp@209: Starting application 'navigate' (instance UUID: '94e4415c-4a03-11ea-afd4-bdd4a94c4cca') ...
2020-02-07 23:43:03.479 DEBUG engine/gems/scheduler/execution_groups.cpp@489: Launching 0 pre-start job(s)
2020-02-07 23:43:03.479 DEBUG engine/gems/scheduler/execution_groups.cpp@498: Replaying 0 pre-start event(s)
2020-02-07 23:43:03.480 DEBUG engine/gems/scheduler/execution_groups.cpp@489: Launching 0 pre-start job(s)
2020-02-07 23:43:03.480 DEBUG engine/gems/scheduler/execution_groups.cpp@498: Replaying 0 pre-start event(s)
2020-02-07 23:43:03.480 INFO  engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2020-02-07 23:43:03.480 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'backend'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'websight'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/WebsightServer' ...
2020-02-07 23:43:03.485 INFO  packages/sight/WebsightServer.cpp@200: Sight webserver is loaded
2020-02-07 23:43:03.485 INFO  packages/sight/WebsightServer.cpp@201: Please open Chrome Browser and navigate to http://<ip address>:3000
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'websight/WebsightServer' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'websight/WebsightServer'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/isaac.sight.AliceSight' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'websight/isaac.sight.AliceSight' DONE
2020-02-07 23:43:03.485 WARN  engine/alice/backend/codelet_backend.cpp@277: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_config_bridge'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_statistics'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_statistics/NodeStatistics' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_statistics/NodeStatistics' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_statistics/NodeStatistics'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_pose_tree_bridge'
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2020-02-07 23:43:03.485 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_interactive_markers_bridge'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.localization.robot_pose_initializer'
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.localization.robot_pose_initializer/initial_pose' ...
2020-02-07 23:43:03.486 WARN  engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:03.486 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.localization.robot_pose_initializer/initial_pose' DONE
2020-02-07 23:43:03.500 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.localization.robot_pose_initializer/initial_pose'
2020-02-07 23:43:03.500 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'map'
2020-02-07 23:43:03.500 WARN  packages/navigation/NavigationMap.cpp@34: Could not find a DistanceMap component for the OccupancyGridLayer in this map. Creating one automatically now using ObstacleAtlas node 'navigation.obstacle_atlas/obstacle_atlas'.
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'map/isaac.map.Map' ...
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'map/isaac.map.Map' DONE
2020-02-07 23:43:03.510 WARN  engine/alice/backend/codelet_backend.cpp@277: Codelet 'map/isaac.map.Map' was not added to scheduler because no tick method is specified.
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'map/unity_initializer' ...
2020-02-07 23:43:03.510 WARN  engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:03.510 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'map/unity_initializer' DONE
2020-02-07 23:43:03.512 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'map/unity_initializer'
2020-02-07 23:43:04.151 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.obstacle_atlas'
2020-02-07 23:43:04.156 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.localization.subgraph'
2020-02-07 23:43:04.156 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.imu_odometry.imu_corrector'
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.imu_odometry.imu_corrector/ImuCorrector' ...
2020-02-07 23:43:04.157 INFO  packages/imu/ImuCorrector.cpp@43: No calibration file is supplied. Corrector will calibrate IMU.
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.imu_odometry.imu_corrector/ImuCorrector' DONE
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.imu_odometry.imu_corrector/ImuCorrector'
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.imu_odometry.odometry'
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.imu_odometry.odometry/DifferentialBaseWheelImuOdometry' ...
2020-02-07 23:43:04.157 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.imu_odometry.odometry/DifferentialBaseWheelImuOdometry' DONE
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.imu_odometry.odometry/DifferentialBaseWheelImuOdometry'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.imu_odometry.subgraph'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.localization.localization_evaluation'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.localization.localization_evaluation/isaac.navigation.LocalizationEvaluation' ...
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.localization.localization_evaluation/isaac.navigation.LocalizationEvaluation' DONE
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.localization.localization_evaluation/isaac.navigation.LocalizationEvaluation'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'backend'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/event_manager.cpp@37: Stopping node 'backend' because it reached status 'SUCCESS'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.shared_robot_model'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.sight_widgets'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'goals.subgraph'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'goals.goal_behavior'
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goals.goal_behavior/isaac.navigation.SelectorBehavior' ...
2020-02-07 23:43:04.163 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'goals.goal_behavior/isaac.navigation.SelectorBehavior' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'goals.goal_behavior/isaac.navigation.SelectorBehavior'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'camera_viewer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'camera_viewer/color_viewer' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'camera_viewer/color_viewer' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'camera_viewer/color_viewer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'camera_viewer/depth_viewer' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'camera_viewer/depth_viewer' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'camera_viewer/depth_viewer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'behavior_main'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'behavior_main/NodeGroup' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'behavior_main/NodeGroup' DONE
2020-02-07 23:43:04.164 WARN  engine/alice/backend/codelet_backend.cpp@277: Codelet 'behavior_main/NodeGroup' was not added to scheduler because no tick method is specified.
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'behavior_main/MemorySequenceBehavior' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'behavior_main/MemorySequenceBehavior' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'behavior_main/MemorySequenceBehavior'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'pose_initializers'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'pose_initializers/lidar_initializer' ...
2020-02-07 23:43:04.164 WARN  engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'pose_initializers/lidar_initializer' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'pose_initializers/lidar_initializer'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.subgraph'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.interface'
2020-02-07 23:43:04.164 INFO  engine/alice/components/TcpPublisher.cpp@75: Starting TCP publisher on port 55001
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.noiser.lidar'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.noiser.lidar/flatscanNoiser' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.noiser.lidar/flatscanNoiser' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.noiser.lidar/flatscanNoiser'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.pose_injector'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.pose_injector/pose_injector' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.pose_injector/pose_injector' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.pose_injector/pose_injector'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.scenario_manager'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.scenario_manager/scenario_manager' ...
2020-02-07 23:43:04.164 WARN  engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.scenario_manager/scenario_manager' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.scenario_manager/scenario_manager'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.scan_flattener'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.scan_flattener/rangeScanFlattening' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.scan_flattener/rangeScanFlattening' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.scan_flattener/rangeScanFlattening'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.bounding_boxes'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.bounding_boxes/conversion' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.bounding_boxes/conversion' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.bounding_boxes/conversion'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'simulation.plan_converter'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.plan_converter/global' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.plan_converter/global' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.plan_converter/global'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'simulation.plan_converter/local' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'simulation.plan_converter/local' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'simulation.plan_converter/local'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.subgraph'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.local_map.subgraph'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.local_map.range_scan_to_observation_map'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.range_scan_to_observation_map/isaac.navigation.RangeScanToObservationMap' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.range_scan_to_observation_map/isaac.navigation.RangeScanToObservationMap' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.range_scan_to_observation_map/isaac.navigation.RangeScanToObservationMap'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.local_map.local_map'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/cleanup' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/cleanup' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/cleanup'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/isaac.navigation.BinaryToDistanceMap' ...
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/isaac.navigation.BinaryToDistanceMap' DONE
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/isaac.navigation.BinaryToDistanceMap'
2020-02-07 23:43:04.164 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/isaac.navigation.LocalMap' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/isaac.navigation.LocalMap' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/isaac.navigation.LocalMap'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.local_map.local_map/isaac.navigation.OccupancyToBinaryMap' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.local_map.local_map/isaac.navigation.OccupancyToBinaryMap' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.local_map.local_map/isaac.navigation.OccupancyToBinaryMap'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.navigation_mode'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.goal_viewer'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.goal_viewer/GoalViewer' ...
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.goal_viewer/GoalViewer' DONE
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.goal_viewer/GoalViewer'
2020-02-07 23:43:04.165 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.goal_monitor'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.goal_monitor/GoalMonitor' ...
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.goal_monitor/GoalMonitor' DONE
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.goal_monitor/GoalMonitor'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.go_to_behavior'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.go_to_behavior/GoToBehavior' ...
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.go_to_behavior/GoToBehavior' DONE
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.go_to_behavior/GoToBehavior'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.go_to.move_until_arrival'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.go_to.move_until_arrival/MoveUntilArrival' ...
2020-02-07 23:43:04.166 WARN  engine/alice/application.cpp@160: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'navigation.control.navigation_mode/isaac.navigation.GroupSelectorBehavior')
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.go_to.move_until_arrival/MoveUntilArrival' DONE
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.go_to.move_until_arrival/MoveUntilArrival'
2020-02-07 23:43:04.166 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.planner.subgraph'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.planner.global_plan_smoother'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.planner.global_plan_smoother/smoother' ...
2020-02-07 23:43:04.167 WARN  engine/alice/application.cpp@160: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'navigation.shared_robot_model/SphericalRobotShapeComponent')
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.planner.global_plan_smoother/smoother' DONE
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.planner.global_plan_smoother/smoother'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.subgraph'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node 'backend'
2020-02-07 23:43:04.167 WARN  engine/alice/backend/node_backend.cpp@322: Can not start node 'simulation.scenario_manager' because it is not in the stage 'constructed' or 'stopped'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'goals.pose_as_goal'
2020-02-07 23:43:04.167 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goals.pose_as_goal/isaac.navigation.PoseAsGoal' ...
2020-02-07 23:43:04.168 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'goals.pose_as_goal/isaac.navigation.PoseAsGoal' DONE
2020-02-07 23:43:04.167 INFO  engine/alice/components/TcpSubscriber.cpp@137: TCP receiver trying to connect to remote (localhost:55000)...
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'goals.pose_as_goal/isaac.navigation.PoseAsGoal'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'goals.pose_as_goal/pose_as_goal_frame' ...
2020-02-07 23:43:04.172 ERROR packages/navigation/PoseAsGoal.cpp@47: Could not read pose 'world'_T_'pose_as_goal'.
2020-02-07 23:43:04.172 WARN  engine/alice/components/Codelet.cpp@87: Function deprecated. Set tick_period to the desired tick paramater
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'goals.pose_as_goal/pose_as_goal_frame' DONE
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'goals.pose_as_goal/pose_as_goal_frame'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.lqr'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner' ...
2020-02-07 23:43:04.172 WARN  engine/alice/application.cpp@160: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'navigation.shared_robot_model/SphericalRobotShapeComponent')
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner' DONE
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'navigation.control.control'
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'navigation.control.control/isaac.planner.DifferentialBaseControl' ...
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'navigation.control.control/isaac.planner.DifferentialBaseControl' DONE
2020-02-07 23:43:04.172 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'navigation.control.control/isaac.planner.DifferentialBaseControl'
2020-02-07 23:43:04.172 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:04.673 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:05.173 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:05.673 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:06.173 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:06.673 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:07.174 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:07.674 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:08.174 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:08.674 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:09.174 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:09.674 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:10.174 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:10.675 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:11.175 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:11.675 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:12.175 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:12.675 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:13.175 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:13.479 INFO  engine/alice/backend/allocator_backend.cpp@56: Optimized memory CPU allocator.
2020-02-07 23:43:13.480 INFO  engine/alice/backend/allocator_backend.cpp@65: Optimized memory CUDA allocator.
2020-02-07 23:43:13.675 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:14.175 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:14.675 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-02-07 23:43:15.176 WARN  engine/alice/components/TcpSubscriber.cpp@162: Failed to connect to remote. Will try again in 0.500000 seconds.

Hardware and driver info:

$ nvidia-smi
Sat Feb  8 00:07:27 2020       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.33.01    Driver Version: 440.33.01    CUDA Version: 10.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|===============================+======================+======================|
|   0  Tesla T4            On   | 00000000:00:1E.0 Off |                    0 |
| N/A   28C    P8    10W /  70W |      0MiB / 15109MiB |      0%      Default |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|  No running processes found                                                 |
+-----------------------------------------------------------------------------+

Any idea where I’m going wrong?

Could you try launch Unity with an additional “-logFlie -” flag, e.g.,

/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse -logFile -

This will print all Unity and isaac sdk log to console. If the log shows error, please post here.

If the log looks normal, run the sdk app

bazel run //apps/navsim:navsim_navigate

If at this point both Unity process and sdk app show “Failed to connect to remote”, it’s likely that your localhost resolved to IPv6 ::1. You can either remove “::1 localhost” line in /etc/hosts, or replace “localhost” with “127.0.0.1” in both
isaac/apps/navsim/navsim_navigate.app.json
and
isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/StreamingAssets/navsim-pkg/packages/navsim/apps/navsim.app.json
then run the two again.

Thanks for your response qianl - when I launch Unity with the logFile parameter and then start the sdk app, my output doesn’t seem to change much:

$ /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse -logFile -
Found path: /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64
Mono path[0] = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/Managed'
Mono config path = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/MonoBleedingEdge/etc'
Preloaded 'libSubstance.Engine.so'
Preloaded 'libsubstance_sse2_blend.so'
Preloaded 'ScreenSelector.so'
Desktop is 0 x 0 @ 0 Hz

(it stays like that forever)

My /etc/hosts file (which should be the Ubuntu default) doesn’t seem to be directing localhost to ipv6:

127.0.0.1 localhost
  
# The following lines are desirable for IPv6 capable hosts
::1 ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters
ff02::3 ip6-allhosts

I do not see a reference to localhost (or any networking configuration) in /home/ubuntu/isaac/apps/navsim/navsim_navigate.app.json. Here is my version of that file:

{
  "name": "navigate",
  "modules": [
    "viewers"
  ],
  "graph": {
    "nodes": [
      {
        "name": "simulation",
        "subgraph": "packages/navsim/apps/navsim.subgraph.json"
      },
      {
        "name": "navigation",
        "subgraph": "packages/navigation/apps/differential_base_navigation.subgraph.json"
      },
      {
        "name": "goals",
        "subgraph": "packages/navigation/apps/goal_generators.subgraph.json"
      },
      {
        "name": "camera_viewer",
        "components": [
          {
            "name": "ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "color_viewer",
            "type": "isaac::viewers::ColorCameraViewer"
          },
          {
            "name": "depth_viewer",
            "type": "isaac::viewers::DepthCameraViewer"
          }
        ]
      },
      {
        "name": "behavior_main",
        "components": [
          {
            "name": "NodeGroup",
            "type": "isaac::alice::behaviors::NodeGroup"
          },
          {
            "name": "MemorySequenceBehavior",
            "type": "isaac::alice::behaviors::MemorySequenceBehavior"
          }
        ]
      }
    ],
    "edges": [
      {
        "source": "navigation.subgraph/interface/feedback",
        "target": "goals.subgraph/interface/feedback"
      },
      {
        "source": "goals.subgraph/interface/goal",
        "target": "navigation.subgraph/interface/goal"
      },
      {
        "source": "simulation.interface/noisy/flatscan",
        "target": "navigation.subgraph/interface/flatscan_for_localization"
      },
      {
        "source": "simulation.interface/noisy/flatscan",
        "target": "navigation.subgraph/interface/flatscan_for_obstacles"
      },
      {
        "source": "simulation.interface/output/base_state",
        "target": "navigation.subgraph/interface/state"
      },
      {
        "source": "simulation.interface/output/imu_raw",
        "target": "navigation.subgraph/interface/imu_raw"
      },
      {
        "source": "navigation.subgraph/interface/command",
        "target": "simulation.interface/input/base_command"
      },
      {
        "source": "simulation.interface/output/color",
        "target": "camera_viewer/color_viewer/color_listener"
      },
      {
        "source": "simulation.interface/output/depth",
        "target": "camera_viewer/depth_viewer/depth_listener"
      },
      {
        "source": "navigation.planner.global_plan_smoother/smoother/smooth_plan",
        "target": "simulation.interface/sight/global_plan"
      },
      {
        "source": "navigation.control.lqr/isaac.planner.DifferentialBaseLqrPlanner/plan",
        "target": "simulation.interface/sight/local_plan"
      }
    ]
  },
  "config": {
    "behavior_main": {
      "MemorySequenceBehavior": {
        "tick_period": "10Hz"
      },
      "NodeGroup": {
        "node_names": [
          "simulation.scenario_manager",
          "navigation.localization.localize"
        ],
        "tick_period": "10Hz"
      }
    },
    "navigation.localization.localize": {
      "disable_automatic_start": true
    },
    "goals.goal_behavior": {
      "isaac.navigation.SelectorBehavior": {
        "desired_behavior": "pose"
      }
    },
    "navigation.imu_odometry.odometry": {
      "DifferentialBaseWheelImuOdometry": {
        "use_imu": false
      }
    },
    "goals.pose_as_goal": {
      "pose_as_goal_frame": {
        "lhs_frame": "unity"
      }
    },
    "camera_viewer": {
      "color_viewer": {
        "target_fps": 20,
        "reduce_scale": 4
      },
      "depth_viewer": {
        "colormap": [
          [ 128, 0, 0 ],
          [ 255, 0, 0 ],
          [ 255, 255, 0 ],
          [ 0, 255, 255 ],
          [ 0, 0, 255 ],
          [ 0, 0, 128 ]
        ],
        "min_visualization_depth": 0.0,
        "max_visualization_depth": 20.0,
        "target_fps": 20,
        "reduce_scale": 4
      }
    }
  }
}

I have changed “localhost” to “127.0.0.1” in /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/StreamingAssets/navsim-pkg/packages/navsim/apps/navsim.app.json so that the file looks like this:

{
  "name": "navsim",
  "modules": [
    "imu",
    "map"
  ],
  "graph": {
    "nodes": [
      {
        "name": "navsim",
        "components": [
          {
            "name": "ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "output",
            "type": "isaac::alice::TcpPublisher"
          },
          {
            "name": "input",
            "type": "isaac::alice::TcpSubscriber"
          },
          {
            "name": "time_sync",
            "type": "isaac::alice::TimeSynchronizer"
          }
        ]
      },
      {
        "name": "imu",
        "components": [
          {
            "name": "isaac.alice.MessageLedger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "random",
            "type": "isaac::alice::Random"
          },
          {
            "name": "imusim",
            "type": "isaac::imu::ImuSim"
          }
        ]
      }
    ],
    "edges": [
      {
        "source": "navsim/output/bodies",
        "target": "imu/imusim/bodies"
      },
      {
        "source": "imu/imusim/imu_raw",
        "target": "navsim/output/imu_raw"
      }
    ]
  },
  "config": {
    "websight": {
      "WebsightServer": {
        "port": 3001
      }
    },
    "navsim": {
      "output": {
        "port": 55000
      },
      "input": {
        "port": 55001,
        "host": "127.0.0.1"
      }
    },
    "imu": {
      "imusim": {
        "imu_name": "imu",
        "accel_bias": [
          0.2,
          0.3,
          0.4
        ],
        "gyro_bias": [
          0.01,
          0.02,
          0.02
        ],
        "accel_noise": [
          0.01,
          0.01,
          0.01
        ],
        "gyro_noise": [
          0.001,
          0.001,
          0.001
        ]
      }
    }
  }
}

When I start the simulator and the sdk app, it doesn’t seem to change the output at all.

This line in the Unity log indicates that Unity is not able to access a display

Desktop is 0 x 0 @ 0 Hz

I also just notice that in you first post, nvidia-smi indicates there are not xorg instance, so that’s why.

Unity graphics does not run truly headless, so if you don’t have a monitor connected, you’ll need to configure virtual display:

sudo nvidia-xconfig --allow-empty-initial-configuration --enable-all-gpus --force-generate
sudo startx &

If this is successful, do nvidia-smi, you should see

+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|    0      2281      G   /usr/lib/xorg/Xorg                             9MiB |

You can also verify that there’s a valid display

ls /tmp/.X11-unix/
> X0
DISPLAY=:0 glxinfo
> name of display: :0
display: :0  screen: 0
direct rendering: Yes
server glx vendor string: NVIDIA Corporation
...

If this is setup correctly, when you run Unity again you should see instead

Display 0: 640x480 (primary device).

Ok - great info. I realized that when I was running it on a desktop with display attached, I was still running it while ssh’d in from another machine. When I run it in a terminal on the machine with a display, Unity does open and the output is different.

I recognize that the virtual screen stuff is outside the scope of Isaac but it’s still not quite working how it seems it should and my real intention is to get this all working in the cloud. My output from these steps is:

ubuntu@ip-172-16-6-1:~$ sudo nvidia-xconfig --allow-empty-initial-configuration --enable-all-gpus --force-generate
Option "AllowEmptyInitialConfiguration" "True" added to Screen "Screen0".
Backed up file '/etc/X11/xorg.conf' as '/etc/X11/xorg.conf.nvidia-xconfig-original'
Backed up file '/etc/X11/xorg.conf' as '/etc/X11/xorg.conf.backup'
New X configuration file written to '/etc/X11/xorg.conf'

ubuntu@ip-172-16-6-1:~$ sudo startx &
[1] 20406
ubuntu@ip-172-16-6-1:~$ 

X.Org X Server 1.19.6
Release Date: 2017-12-20
X Protocol Version 11, Revision 0
Build Operating System: Linux 4.4.0-148-generic x86_64 Ubuntu
Current Operating System: Linux ip-172-16-6-1 4.15.0-1058-aws #60-Ubuntu SMP Wed Jan 15 22:35:20 UTC 2020 x86_64
Kernel command line: BOOT_IMAGE=/boot/vmlinuz-4.15.0-1058-aws root=UUID=c03b791b-60ef-4ae1-82b5-5c9ab6b4d08f ro console=tty1 console=ttyS0 nvme_core.io_timeout=4294967295
Build Date: 03 June 2019  08:10:35AM
xorg-server 2:1.19.6-1ubuntu4.3 (For technical support please see http://www.ubuntu.com/support) 
Current version of pixman: 0.34.0
        Before reporting problems, check http://wiki.x.org
        to make sure that you have the latest version.
Markers: (--) probed, (**) from config file, (==) default setting,
        (++) from command line, (!!) notice, (II) informational,
        (WW) warning, (EE) error, (NI) not implemented, (??) unknown.
(==) Log file: "/var/log/Xorg.1.log", Time: Sat Feb  8 20:23:45 2020
(==) Using config file: "/etc/X11/xorg.conf"
(==) Using system config directory "/usr/share/X11/xorg.conf.d"
nvidia-smi
Sat Feb  8 20:23:53 2020       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.33.01    Driver Version: 440.33.01    CUDA Version: 10.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|===============================+======================+======================|
|   0  Tesla T4            On   | 00000000:00:1E.0 Off |                    0 |
| N/A   29C    P8     9W /  70W |     45MiB / 15109MiB |      0%      Default |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|    0      1261      G   /usr/lib/xorg/Xorg                            22MiB |
|    0     20427      G   /usr/lib/xorg/Xorg                            22MiB |
+-----------------------------------------------------------------------------+
ubuntu@ip-172-16-6-1:~$ ls /tmp/.X11-unix/
X0  X1
ubuntu@ip-172-16-6-1:~$ DISPLAY=:0 glxinfo
No protocol specified
Error: unable to open display :0
ubuntu@ip-172-16-6-1:~$ /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse -logFile -
Found path: /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64
Mono path[0] = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/Managed'
Mono config path = '/home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d_Data/MonoBleedingEdge/etc'
Preloaded 'libSubstance.Engine.so'
Preloaded 'libsubstance_sse2_blend.so'
Preloaded 'ScreenSelector.so'
Desktop is 0 x 0 @ 0 Hz

Could you try

DISPLAY=:0 sudo xhost +
DISPLAY=:0 glxinfo
DISPLAY=:0 /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse -logFile -

And if that’s still not working, replace “DISPLAY=:0” with “DISPLAY=:1”. Your /tmp/.X11-unix show two sockets.

If you are still getting this from glxinfo after the above steps

No protocol specified
Error: unable to open display :0 (or :1)

your .XAuthority file may be messed up (https://unix.stackexchange.com/questions/215558/why-am-i-getting-this-message-from-xauth-timeout-in-locking-authority-file-ho)

It works! Thank you so much qianl! My final solution is to open two terminal sessions and in the first run:

sudo nvidia-xconfig --allow-empty-initial-configuration --enable-all-gpus --force-generate
DISPLAY=:1 sudo xhost +
DISPLAY=:1 glxinfo
DISPLAY=:1 /home/ubuntu/isaac_sim_unity3d/builds/isaac_sim_unity3d.x86_64 --scene small_warehouse -logFile -

…and in the second run:

cd ~/isaac
bazel run //apps/navsim:navsim_navigate

Perhaps in the future it may be useful for Unity to throw an error if it reads its display as not connected?

Thanks for the feedback, we should definitely add that error check.