Isaac ROS Mission Client receives mission but carter01 does not move

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi, I am currently testing this example from the Isaac ROS Mission Client documentation:

I am using Mission Dispatch to send a mission to carter01 in Isaac Sim, but the robot does not move.

Environment

  • Ubuntu 22.04

  • Isaac ROS version: 3.2

  • isaac sim 4.5

Mission Dispatch behavior

Mission Dispatch successfully creates the robot and sends the mission:

[Isaac Mission Dispatch] | INFO: [carter01] Received a new mission [simple_mission_example]
[Isaac Mission Dispatch] | INFO: [carter01] Created robot
[Isaac Mission Dispatch] | INFO: [carter01] Mission state: PENDING -> RUNNING
[Isaac Mission Dispatch] | INFO: [carter01] Sending mission route node goto_pickup

After some time, it reports:

[Isaac Mission Dispatch] | INFO: [carter01] Robot Offline
[Isaac Mission Dispatch] | INFO: [carter01] [Mission ID - simple_mission_example] Mission state: RUNNING -> FAILED
[Isaac Mission Dispatch] | INFO: [carter01] [Mission ID - simple_mission_example] Mission failed at 2026-02-20 14:02:21.294507
[Isaac Mission Dispatch] | INFO: [carter01] [Mission ID - simple_mission_example] Failure reason: Mission timed out
[Isaac Mission Dispatch] | INFO: [carter01] [Mission ID - simple_mission_example] Mission duration: 0:05:00.116421
[Isaac Mission Dispatch] | INFO: [carter01] Robot state: RobotStateV1.ON_TASK -> RobotStateV1.IDLE

Mission Client launch

On the Mission Client machine, I run:

ros2 launch isaac_ros_vda5050_nav2_client_bringup isaac_ros_vda5050_nav2_client.launch.py init_pose_x:=-2.0 init_pose_yaw:=3.14159

The launch starts successfully without errors.

Mission Client receives mission

When assigning the mission via API, the Mission Client shows:

[mqtt_to_ros_bridge_node-15] [INFO] [1771595841.178770886] [mqtt_ros_bridge_node]: From uagv/v2/RobotCompany/carter01/instantActions: b'{"headerId": 0, "timestamp": "2026-02-20T13:57:21.176975", "version": "2.0.0", "manufacturer": "", "serialNumber": "", "instantActions": [{"actionType": "factsheetRequest", "actionId": "instantaction-n0", "blockingType": "HARD", "actionParameters": [], "actionDescription": ""}]}'
[mqtt_to_ros_bridge_node-15] [INFO] [1771595841.219978427] [mqtt_ros_bridge_node]: From uagv/v2/RobotCompany/carter01/order: b'{"headerId": 1, "timestamp": "2026-02-20T13:57:21.193071", "version": "2.0.0", "manufacturer": "", "serialNumber": "", "orderId": "simple_mission_example-n0", "orderUpdateId": 0, "nodes": [{"nodeId": "simple_mission_example-n0-s0", "sequenceId": 0, "released": true, "nodePosition": {"x": 0.0, "y": 0.0, "theta": 0.0, "mapId": "", "mapDescription": "", "allowedDeviationXY": 0.0, "allowedDeviationTheta": 0.0}, "actions": [], "nodeDescription": ""}, {"nodeId": "simple_mission_example-n0-s2", "sequenceId": 2, "released": true, "nodePosition": {"x": 1.5, "y": 1.5, "theta": 0.0, "mapId": "map", "mapDescription": "", "allowedDeviationXY": 0.1, "allowedDeviationTheta": 0.0}, "actions": [], "nodeDescription": ""}, {"nodeId": "simple_mission_example-n0-s4", "sequenceId": 4, "released": true, "nodePosition": {"x": 3.3, "y": 2.1, "theta": 0.0, "mapId": "map", "mapDescription": "", "allowedDeviationXY": 0.1, "allowedDeviationTheta": 0.0}, "actions": [], "nodeDescription": ""}], "edges": [{"edgeId": "simple_mission_example-e1", "sequenceId": 1, "edgeDescription": "", "released": true, "startNodeId": "simple_mission_example-n0-s0", "endNodeId": "simple_mission_example-n0-s2", "actions": []}, {"edgeId": "simple_mission_example-e3", "sequenceId": 3, "edgeDescription": "", "released": true, "startNodeId": "simple_mission_example-n0-s2", "endNodeId": "simple_mission_example-n0-s4", "actions": []}]}'

Isaac Sim console occasionally shows:

2026-02-20 14:21:41 [3,752,416ms] [Warning] [omni.graph.core.plugin] /World/Nova_Carter_ROS/differential_drive/differential_controller_01: [/World/Nova_Carter_ROS/differential_drive] invalid dt 0.000000, cannot check for acceleration limits, skipping current step

I followed the tutorial steps and configured the Sample Scene in Isaac Sim under (ROS2 → Isaac ROS → Sample Scene)
There were no error messages when running the launch commands. However, the Nova_Carter_ROS robot in the Isaac Sim scene does not move after the mission is assigned. It seems that the mission is being received correctly, but the robot does not respond to the commands.
Thank you for your help.

2

Hello @wendy60113,

Thanks for posting in the Isaac ROS forum!

You might want to check if the Nav2 node is up first with the following commands:

ros2 node list | grep nav2
ros2 action list | grep navigate

Then check if the VDA5050 client is trying to move:

ros2 topic echo /cmd_vel --once

(Or whatever cmd_vel topic the launch file is configured to use, often /<robot_namespace>/cmd_vel.)

If no /cmd_vel messages appear after the order is received, the VDA5050 Nav2 client isn’t sending navigation goals to Nav2, or Nav2 is immediately rejecting them.

Use this command to check the topic info:

ros2 topic info /cmd_vel

We expect a publisher from the Nav2/VDA5050 node and a subscriber from Isaac Sim (Nova_Carter_ROS). If either side is missing, the bridge/wiring is wrong and you might need to adjust it.

3

It worked successfully. Thank you.

4

Glad it’s working now. I’ll go ahead and close this topic.
Feel free to start a new thread if you have any other questions.