Isaac Ros Nvblox tutorial: The robot aint moving when the sample is played

engineer.ambarishgk · September 11, 2024, 7:11pm

The bot doesn’t seem to move when played so the mapping is not done properly.

2024-09-11 19:10:16 [1,091,464ms] [Info] [omni.replicator.core.scripts.annotators] Attaching PostProcessDispatchIsaacSimulationGate to render product(s) ['/Render/RenderProduct_Replicator_03']
2024-09-11 19:10:16 [1,091,464ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_03']
2024-09-11 19:10:16 [1,091,472ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_03']
2024-09-11 19:10:16 [1,091,473ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishCameraInfo
	{'frameId': 'right_stereo_camera:left_rgb', 'nodeNamespace': 'right_stereo_camera/left', 'queueSize': 10, 'topicName': 'camera_info', 'context': 695902664, 'qosProfile': '', 'width': 640, 'height': 480, 'projectionType': 'pinhole', 'k': array([[319.27051865,   0.        , 320.        ,   0.        ,
        319.27051865, 240.        ,   0.        ,   0.        ,
          1.        ]]), 'r': array([[1., 0., 0., 0., 1., 0., 0., 0., 1.]]), 'p': array([[319.27051865,   0.        , 320.        ,   0.        ,
          0.        , 319.27051865, 240.        ,   0.        ,
          0.        ,   0.        ,   1.        ,   0.        ]]), 'physicalDistortionModel': 'pinhole', 'physicalDistortionCoefficients': array([ 1.47811e-01, -3.23130e-02, -1.94000e-04, -3.50000e-05,
        8.82300e-03,  5.17913e-01, -6.70800e-02,  1.69500e-02],
      dtype=float32)}
	/Render/RenderProduct_Replicator_03
	Annotators:
		PostProcessDispatchIsaacSimulationGate
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,091,490ms] [Info] [omni.replicator.core.scripts.annotators] Attaching PostProcessDispatchIsaacSimulationGate to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,509ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,555ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,565ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishCameraInfo
	{'frameId': 'left_stereo_camera:left_rgb', 'nodeNamespace': 'left_stereo_camera/left', 'queueSize': 10, 'topicName': 'camera_info', 'context': 696095736, 'qosProfile': '', 'width': 640, 'height': 480, 'projectionType': 'pinhole', 'k': array([[319.27051865,   0.        , 320.        ,   0.        ,
        319.27051865, 240.        ,   0.        ,   0.        ,
          1.        ]]), 'r': array([[1., 0., 0., 0., 1., 0., 0., 0., 1.]]), 'p': array([[319.27051865,   0.        , 320.        ,   0.        ,
          0.        , 319.27051865, 240.        ,   0.        ,
          0.        ,   0.        ,   1.        ,   0.        ]]), 'physicalDistortionModel': 'pinhole', 'physicalDistortionCoefficients': array([ 1.47811e-01, -3.23130e-02, -1.94000e-04, -3.50000e-05,
        8.82300e-03,  5.17913e-01, -6.70800e-02,  1.69500e-02],
      dtype=float32)}
	/Render/RenderProduct_Replicator_04
	Annotators:
		PostProcessDispatchIsaacSimulationGate
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,091,583ms] [Info] [omni.replicator.core.scripts.annotators] Attaching LdrColorSDIsaacConvertRGBAToRGB to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,648ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,658ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,658ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishImage
	{'frameId': 'left_stereo_camera:left_rgb', 'nodeNamespace': 'left_stereo_camera/left', 'queueSize': 10, 'topicName': 'image_raw', 'context': 696095736, 'qosProfile': ''}
	/Render/RenderProduct_Replicator_04
	Annotators:
		LdrColorSDIsaacConvertRGBAToRGB
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,091,677ms] [Info] [omni.replicator.core.scripts.annotators] Attaching DistanceToImagePlaneSDIsaacPassthroughImagePtr to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,744ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,755ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,755ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishImage
	{'encoding': '32FC1', 'frameId': 'left_stereo_camera:left_rgb', 'nodeNamespace': 'left_stereo_camera/depth', 'queueSize': 10, 'topicName': 'ground_truth', 'context': 696095736, 'qosProfile': ''}
	/Render/RenderProduct_Replicator_04
	Annotators:
		DistanceToImagePlaneSDIsaacPassthroughImagePtr
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,091,774ms] [Info] [omni.replicator.core.scripts.annotators] Attaching PostProcessDispatchIsaacSimulationGate to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,775ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,785ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_04']
2024-09-11 19:10:17 [1,091,786ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishCameraInfo
	{'frameId': 'left_stereo_camera:left_rgb', 'nodeNamespace': 'left_stereo_camera/depth', 'queueSize': 10, 'topicName': 'camera_info', 'context': 696095736, 'qosProfile': '', 'width': 640, 'height': 480, 'projectionType': 'pinhole', 'k': array([[319.27051865,   0.        , 320.        ,   0.        ,
        319.27051865, 240.        ,   0.        ,   0.        ,
          1.        ]]), 'r': array([[1., 0., 0., 0., 1., 0., 0., 0., 1.]]), 'p': array([[319.27051865,   0.        , 320.        ,   0.        ,
          0.        , 319.27051865, 240.        ,   0.        ,
          0.        ,   0.        ,   1.        ,   0.        ]]), 'physicalDistortionModel': 'pinhole', 'physicalDistortionCoefficients': array([ 1.47811e-01, -3.23130e-02, -1.94000e-04, -3.50000e-05,
        8.82300e-03,  5.17913e-01, -6.70800e-02,  1.69500e-02],
      dtype=float32)}
	/Render/RenderProduct_Replicator_04
	Annotators:
		PostProcessDispatchIsaacSimulationGate
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,091,805ms] [Info] [omni.replicator.core.scripts.annotators] Attaching PostProcessDispatchIsaacSimulationGate to render product(s) ['/Render/RenderProduct_Replicator_05']
2024-09-11 19:10:17 [1,091,828ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_05']
2024-09-11 19:10:17 [1,091,888ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_05']
2024-09-11 19:10:17 [1,091,905ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishCameraInfo
	{'frameId': 'left_stereo_camera:right_rgb', 'nodeNamespace': 'left_stereo_camera/right', 'queueSize': 10, 'topicName': 'camera_info', 'context': 696095736, 'qosProfile': '', 'width': 640, 'height': 480, 'projectionType': 'pinhole', 'k': array([[319.77551567,   0.        , 320.        ,   0.        ,
        319.77551567, 240.        ,   0.        ,   0.        ,
          1.        ]]), 'r': array([[1., 0., 0., 0., 1., 0., 0., 0., 1.]]), 'p': array([[319.77551567,   0.        , 320.        ,   0.        ,
          0.        , 319.77551567, 240.        ,   0.        ,
          0.        ,   0.        ,   1.        ,   0.        ]]), 'physicalDistortionModel': 'pinhole', 'physicalDistortionCoefficients': array([ 6.815791e+00,  5.172144e+00, -2.460000e-04, -1.280000e-04,
        3.532670e-01,  7.180808e+00,  7.640372e+00,  1.596375e+00],
      dtype=float32)}
	/Render/RenderProduct_Replicator_05
	Annotators:
		PostProcessDispatchIsaacSimulationGate
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,091,927ms] [Info] [omni.replicator.core.scripts.annotators] Attaching LdrColorSDIsaacConvertRGBAToRGB to render product(s) ['/Render/RenderProduct_Replicator_05']
2024-09-11 19:10:17 [1,092,006ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_05']
2024-09-11 19:10:17 [1,092,018ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_05']
2024-09-11 19:10:17 [1,092,018ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishImage
	{'frameId': 'left_stereo_camera:right_rgb', 'nodeNamespace': 'left_stereo_camera/right', 'queueSize': 10, 'topicName': 'image_raw', 'context': 696095736, 'qosProfile': ''}
	/Render/RenderProduct_Replicator_05
	Annotators:
		LdrColorSDIsaacConvertRGBAToRGB
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,092,037ms] [Info] [omni.replicator.core.scripts.annotators] Attaching RtxSensorCpuIsaacComputeRTXLidarPointCloud to render product(s) ['/Render/RenderProduct_Replicator_06']
2024-09-11 19:10:17 [1,092,100ms] [Info] [omni.replicator.core.scripts.annotators] Attaching PostProcessDispatchIsaacSimulationGate to render product(s) ['/Render/RenderProduct_Replicator_06']
2024-09-11 19:10:17 [1,092,115ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacReadSimulationTime to render product(s) ['/Render/RenderProduct_Replicator_06']
2024-09-11 19:10:17 [1,092,170ms] [Info] [omni.replicator.core.scripts.annotators] Attaching IsaacNoop to render product(s) ['/Render/RenderProduct_Replicator_06']
2024-09-11 19:10:17 [1,092,184ms] [Info] [omni.isaac.core_nodes.impl.base_writer_node] Attaching:
omni.isaac.ros2_bridge.ROS2PublishPointCloud
	{'frameId': 'front_3d_lidar', 'nodeNamespace': '', 'queueSize': 10, 'topicName': 'front_3d_lidar/point_cloud', 'context': 696426968, 'qosProfile': ''}
	/Render/RenderProduct_Replicator_06
	Annotators:
		RtxSensorCpuIsaacComputeRTXLidarPointCloud
		PostProcessDispatchIsaacSimulationGate
		SyntheticData.NodeConnectionTemplate(node_template_id='IsaacReadSimulationTime', render_product_idxs=(0,), attributes_mapping={'outputs:simulationTime': 'inputs:timeStamp'})

2024-09-11 19:10:17 [1,092,390ms] [Info] [omni.kit.menu.utils.scripts.utils] omni.kit.menu.utils.rebuild_menus
2024-09-11 19:10:18 [1,092,707ms] [Info] [rtx.multigpumanager.plugin] View 0 (/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0) assigned to device 0
2024-09-11 19:10:18 [1,092,707ms] [Info] [rtx.multigpumanager.plugin] View 0 (/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,708ms] [Info] [rtx.multigpumanager.plugin] View 1 (/Render/RenderProduct_Replicator) assigned to device 0
2024-09-11 19:10:18 [1,092,710ms] [Info] [rtx.multigpumanager.plugin] View 1 (/Render/RenderProduct_Replicator) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,712ms] [Info] [rtx.multigpumanager.plugin] View 2 (/Render/RenderProduct_Replicator_01) assigned to device 0
2024-09-11 19:10:18 [1,092,712ms] [Info] [rtx.multigpumanager.plugin] View 2 (/Render/RenderProduct_Replicator_01) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,714ms] [Info] [rtx.multigpumanager.plugin] View 3 (/Render/RenderProduct_Replicator_02) assigned to device 0
2024-09-11 19:10:18 [1,092,714ms] [Info] [rtx.multigpumanager.plugin] View 3 (/Render/RenderProduct_Replicator_02) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,716ms] [Info] [rtx.multigpumanager.plugin] View 4 (/Render/RenderProduct_Replicator_03) assigned to device 0
2024-09-11 19:10:18 [1,092,716ms] [Info] [rtx.multigpumanager.plugin] View 4 (/Render/RenderProduct_Replicator_03) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,719ms] [Info] [rtx.multigpumanager.plugin] View 5 (/Render/RenderProduct_Replicator_04) assigned to device 0
2024-09-11 19:10:18 [1,092,719ms] [Info] [rtx.multigpumanager.plugin] View 5 (/Render/RenderProduct_Replicator_04) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,721ms] [Info] [rtx.multigpumanager.plugin] View 6 (/Render/RenderProduct_Replicator_05) assigned to device 0
2024-09-11 19:10:18 [1,092,721ms] [Info] [rtx.multigpumanager.plugin] View 6 (/Render/RenderProduct_Replicator_05) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,723ms] [Info] [rtx.multigpumanager.plugin] View 7 (/Render/RenderProduct_Replicator_06) assigned to device 0
2024-09-11 19:10:18 [1,092,723ms] [Info] [rtx.multigpumanager.plugin] View 7 (/Render/RenderProduct_Replicator_06) switching to 1x1 layout
2024-09-11 19:10:18 [1,092,811ms] [Info] [carb] Initializing plugin: omni.sensors.nv.lidar.lidar_core.plugin (interfaces: [rtx::rtxsensor::RtxSensorModel v1.0]) (impl: omni.sensors.nv.lidar.lidar_core.plugin)
2024-09-11 19:10:18 [1,092,811ms] [Info] [carb] Initializing plugin: omni.sensors.nv.profile_reader.ext.plugin (interfaces: [omni::sensors::IProfileReaderFactory v0.1]) (impl: omni.sensors.nv.profile_reader.ext.plugin)
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member channelId not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member rangeId not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member vertOffsetM not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member horOffsetM not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member distanceCorrectionM not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member focalDistM not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member focalSlope not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member reportRateDiv not found
2024-09-11 19:10:18 [1,092,811ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member bank not found
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.common.atmos_cfg_provider.ext.plugin (interfaces: [omni::sensors::atmos::IAtmosCfgProviderFactory v0.1]) (impl: omni.sensors.nv.common.atmos_cfg_provider.ext.plugin)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.material_profile_reader.ext.plugin (interfaces: [omni::sensors::materials::IMaterialReaderFactory v0.1]) (impl: omni.sensors.nv.material_profile_reader.ext.plugin)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.retro_reflective_material (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.retro_reflective_material)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.core_material (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.core_material)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.composite_material (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.composite_material)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.constant (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.constant)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.acoustic_material (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.acoustic_material)
2024-09-11 19:10:18 [1,092,812ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.default_material (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.default_material)
2024-09-11 19:10:18 [1,092,813ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.radar_generic2.plugin (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.radar_generic2.plugin)
2024-09-11 19:10:18 [1,092,813ms] [Info] [carb] Initializing plugin: omni.sensors.nv.materials.radar_generic.plugin (interfaces: [omni::sensors::materials::IMaterial v0.2]) (impl: omni.sensors.nv.materials.radar_generic.plugin)
2024-09-11 19:10:18 [1,092,910ms] [Info] [rtx.rtxsensor.plugin] Initialized sensor model 0x3b2381d0 on device 0
2024-09-11 19:10:18 [1,092,910ms] [Warning] [rtx.rtxsensor.plugin] Using User-specified coordinate frame quaternion (0.000000, 0.000000, 0.000000, 1.000000) in RTXSensor
2024-09-11 19:10:18 [1,093,163ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
Module omni.replicator.core.ogn.python._impl.nodes.OgnSemanticSegmentation cc3f83a load on device 'cuda:0' took 0.19 ms2024-09-11 19:10:18 [1,093,179ms] [Info] [omni.kit.app._impl] [py stdout]: Module omni.replicator.core.ogn.python._impl.nodes.OgnSemanticSegmentation cc3f83a load on device 'cuda:0' took 0.19 ms

2024-09-11 19:10:18 [1,093,180ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,180ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,181ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,181ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,182ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,182ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,182ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,183ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,183ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,185ms] [Info] [omni.isaac.ros2_bridge.plugin] isaac_ros_nitros_bridge_interfaces NitrosBridgeImage message type not found. The NITROS bridge publisher was not created
2024-09-11 19:10:18 [1,093,186ms] [Info] [omni.kit.menu.utils.scripts.utils] omni.kit.menu.utils.refresh_menu_items Create
2024-09-11 19:10:18 [1,093,305ms] [Info] [omni.kit.menu.utils.scripts.utils] omni.kit.menu.utils.rebuild_menus
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member channelId not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member rangeId not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member vertOffsetM not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member horOffsetM not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member distanceCorrectionM not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member focalDistM not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member focalSlope not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member reportRateDiv not found
2024-09-11 19:10:19 [1,093,507ms] [Info] [lidar.lidarprofilereader] Reader is not an array or member bank not found
2024-09-11 19:10:20 [1,095,470ms] [Info] [omni.usd] [MBVH]: enableHydraengineMasking: OFF, for indexForEngineInstance: 0
2024-09-11 19:10:20 [1,095,470ms] [Info] [omni.usd] [MBVH]: raytracingMotion/enable: ON, for indexForEngineInstance: 0
2024-09-11 19:10:20 [1,095,470ms] [Info] [omni.usd] [MBVH]: Forcing hydraengine 0 to have motion raytracing ON
2024-09-11 19:10:20 [1,095,472ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-11 19:10:20 [1,095,474ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-11 19:10:20 [1,095,475ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-11 19:10:20 [1,095,476ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-11 19:10:20 [1,095,478ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-11 19:10:20 [1,095,480ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-11 19:10:21 [1,095,496ms] [Info] [omni.physx.plugin] Using CUDA device ordinal 0.
2024-09-11 19:10:21 [1,095,496ms] [Info] [omni.isaac.ros2_bridge.plugin] rcl::shutdown()
2024-09-11 19:10:21 [1,095,497ms] [Info] [omni.usd.audio] resetting the animation timeline
2024-09-11 19:10:21 [1,095,497ms] [Info] [omni.kit.menu.utils.scripts.utils] omni.kit.menu.utils.rebuild_menus
2024-09-11 19:10:21 [1,095,628ms] [Info] [omni.kit.renderer.plugin] Switch to the same render queue is requested
2024-09-11 19:10:21 [1,095,628ms] [Info] [omni.kit.renderer.plugin] Switch to the same render queue is requested
2024-09-11 19:10:21 [1,095,772ms] [Warning] [carb] Client omni.stageupdate.plugin has acquired [omni::hydra::IOmniHydra v2.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-09-11 19:10:21 [1,096,035ms] [Info] [rtx.multigpumanager.plugin] View 0 (/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0) assigned to device 0
2024-09-11 19:10:21 [1,096,035ms] [Info] [rtx.multigpumanager.plugin] View 0 (/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0) switching to 1x1 layout
2024-09-11 19:10:21 [1,096,121ms] [Info] [omni.kit.menu.utils.scripts.utils] omni.kit.menu.utils.rebuild_menus
2024-09-11 19:10:21 [1,096,235ms] [Info] [rtx.rtxsensor.plugin] Destroying RTXsensor model 0x3b2381d0

How do I get it to move so I can map it better in RviZ?

zhengwang · September 20, 2024, 12:29am

Is it the tutorial that you are following?

If so, please try to use Isaac Sim 4.0.0 as currently Isaac ROS is only verified with Isaac Sim 4.0.0

engineer.ambarishgk · October 5, 2024, 2:29am

Hi, I was using Sim 4.0.1, should I downgrade it?

zhengwang · October 8, 2024, 10:36pm

Yes. Please downgrade to Isaac Sim 4.0.0 and give it a try. Thanks!

engineer.ambarishgk · October 22, 2024, 7:42pm

I tired, it still aint moving

zhengwang · October 23, 2024, 12:20am

I am sorry to hear that you still have trouble running this example.

Here are some things that you can check:

Check if ros2 bridge is set up properly. Did you enable ros2 bridge when starting Isaac Sim? Did you run export FASTRTPS_DEFAULT_PROFILES_FILE=${your path to workspace}/IsaacSim-ros_workspaces/humble_ws/fastdds.xml?
Check if ros2 topics are available. Make sure you have started the simulation in Isaac Sim and launched the nvblox example from the Isaac ROS docker container. You can check the topics by running ros2 topic list. Here is a complete list of topics when I run the example: ros2topic.txt (2.6 KB)
Check if goal_pose is properly published. You can do so by running ros2 topic echo /goal_pose. When you give a goal pose from RVIZ2, you should be able to see a message being published to that topic. An example:

  stamp:
    sec: 902
    nanosec: 283380391
  frame_id: odom
pose:
  position:
    x: 6.937665939331055
    y: 2.733097553253174
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.25581704774222797
    w: 0.9667252133281984

when you give a goal pose, make sure that the goal is in the free space (no obstacles). Otherwise the planner would fail to generate a path

Let me know if you can find something abnormal through the above checks.
If you don’t know, could you please share all of the commands and steps you have used to run the example and the log file from launching isaac_sim_example.launch.py? Thanks!

engineer.ambarishgk · October 23, 2024, 3:39am

Hi Thanks for the quick response,

Yes, I had exported it and is enabled

image1639×788 112 KB

image1639×788 116 KB
Yes, I get the topics

image2025×1494 256 KB

image2025×247 26 KB
Goal Pose

image2025×1161 112 KB

Looks like the carter is now moving, I had to reimage my machine and install everything from scratch. I am not sure what caused it to not move earlier.

I followed the same steps both the times but the Linux Kernel version were different.

Thanks I appreciate your help.

system · November 6, 2024, 3:40am

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.

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