Isaac Perceptor does not show /map and Global Navigation does not work

kazushi-uchida · January 31, 2025, 7:43am

Dear Sir or Madam

I have tried to run Isaac Perceptor on Isaac Sim based on the tutorial below.

https://nvidia-isaac-ros.github.io/reference_workflows/isaac_perceptor/run_perceptor_in_sim.html

I was able to confirm that it worked up to the point shown below in “Visualizing the Outputs”.

I manipulated the “2D Goal Pose” and confirmed that Nova Carter moved and colored voxels were displayed rviz.

https://nvidia-isaac-ros.github.io/reference_workflows/isaac_perceptor/run_perceptor_in_sim.html#visualizing-the-outputs

But I couldn’t get Global Navigation to work.
/map was not displayed on rviz.
Nova Carter did not move when operating the “2D Goal Pose”.

best regards,

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

GPU Information

Model: NVIDIA GeForce RTX 3080
Driver Version: 560.35.05
CUDA Version: 12.6

Topic Description

Error Messages

perceptor_global_navigation_01.txt (166.4 KB)

Screenshots or Videos

kazushi-uchida · February 7, 2025, 7:41am

Hello.

I hope this message finds you well.

Do you have any update?

Best regards,

Raffaello · February 11, 2025, 5:19pm

Hi @kazushi-uchida

Thank you for your post. Looking at your details, it seems everything is working well.

Have you tried subscribing from the map node from the terminal if an output is coming out?

Best,
Raffaello

kazushi-uchida · February 13, 2025, 12:05am

Hi @Raffaello

Thank you for your reply.

I subscribed to the /map topic in the following way:

ros2 topic echo /map
Subscribe to the /map topic in a python program and save it to a text file

I attach the resulting /map topic.

If I check the resulting text file, I will see that the /map topic has been saved correctly.

However, the /map topic cannot be displayed in rviz, and global navigation cannot be performed.

Do I need to do anything special to perform global navigation with perceptor?

Best regards,

ros2_topic_echo_map.txt (1.0 KB)

map_sub_python.txt (2.5 MB)

Raffaello · February 19, 2025, 6:10pm

Hi @kazushi-uchida

It looks more like it is an rviz issue than from Isaac Perceptor.

You can try other tools, like https://foxglove.dev/

Let me know,
Raffaello

kazushi-uchida · February 21, 2025, 4:42am

Hi @Raffaello

I tried to get the /map topic using foxglove.
But I couldn’t get the /map topic.
I couldn’t get the tf map frame either, just like the tf tree I showed in my first post.
So I can’t do the operation in the following link: “In RViz, change the fixed frame to the map frame by setting the value of Display - Global Options - Fixed Frame to map.”