Isaac Sim 2022.2.0 Unable to add second ROS2 camera

I need to model an Intel Realsense camera for use with ROS2, and I’ve made several attempts today to build the ActionGraph from scratch which have all failed. I’m attaching the results from two attempts, including log output.

The first (01_realsense.usd) manages to open the two viewports (1 and 2) with the correct camera output, but the ROS2 topics are not getting published and I see errors in the terminal. Please note that everything was working correctly when I had only the left camera elements in the ActionGraph; the topics were published. It’s when I added the right camera elements that things went wrong. Here is the error output, note it is similar that reported in
ROS2 point cloud publisher is not working:

[WARN] [1673558664.762561150] [rclcpp]: logging was initialized more than once
2023-01-12 21:24:24 [242,023ms] [Error] [omni.isaac.core_nodes.impl.extension] Could not process writer attach request (True, <omni.replicator.core.scripts.writers.NodeWriter object at 0x7f89b4e2c9d0>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_2'), Tried to create a node in a path without a graph - '/Render/PostProcess/SDGPipeline/RenderProduct_omni_kit_widget_viewport_ViewportTexture_2_NodeWriterWriter'
2023-01-12 21:24:24 [242,023ms] [Error] [omni.isaac.core_nodes.impl.extension] Could not process writer attach request (True, <omni.replicator.core.scripts.writers.NodeWriter object at 0x7f89b4e2cdd0>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_2'), Tried to create a node in a path without a graph - '/Render/PostProcess/SDGPipeline/RenderProduct_omni_kit_widget_viewport_ViewportTexture_2_NodeWriterWriter'
2023-01-12 21:24:24 [242,023ms] [Error] [omni.isaac.core_nodes.impl.extension] Could not process writer attach request (True, <omni.replicator.core.scripts.writers.NodeWriter object at 0x7f89b4e15250>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1'), Tried to create a node in a path without a graph - '/Render/PostProcess/SDGPipeline/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1_NodeWriterWriter_01'
2023-01-12 21:24:24 [242,023ms] [Error] [omni.isaac.core_nodes.impl.extension] Could not process writer attach request (True, <omni.replicator.core.scripts.writers.NodeWriter object at 0x7f89b4e15650>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1'), Tried to create a node in a path without a graph - '/Render/PostProcess/SDGPipeline/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1_NodeWriterWriter_01'

The second (02_realsense.usd) is another attempt I made, this one crashes when opening. See the long error log attached.

01_log.txt (1.8 KB)
01_realsense.usd (1.1 MB)
02_log.txt (46.3 KB)
02_realsense.usd (1.1 MB)

OK, here’s something interesting. I managed to get just one ROS2 camera working, see the realsense_good.usd attached to this post.

Then I simply ran the simulation, stopped it, and saved the file to realsense_bad.usd. No change to the model whatsoever. If I open realsense_bad.usd, the ROS2 topics do not get sent and I have the following error in terminal:

[WARN] [1673618006.011342929] [rclcpp]: logging was initialized more than once
2023-01-13 13:53:26 [43,323ms] [Error] [omni.isaac.core_nodes.impl.extension] Could not process writer attach request (True, <omni.replicator.core.scripts.writers.NodeWriter object at 0x7fa852d30850>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1'), Tried to create a node in a path without a graph - '/Render/PostProcess/SDGPipeline/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1_NodeWriterWriter_01'
2023-01-13 13:53:26 [43,323ms] [Error] [omni.isaac.core_nodes.impl.extension] Could not process writer attach request (True, <omni.replicator.core.scripts.writers.NodeWriter object at 0x7fa852d30c50>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1'), Tried to create a node in a path without a graph - '/Render/PostProcess/SDGPipeline/RenderProduct_omni_kit_widget_viewport_ViewportTexture_1_NodeWriterWriter_01'

realsense_bad.usd (1.1 MB)
realsense_good.usd (1.1 MB)