Isaac Sim 2023.1.1 freezing

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi!

I have updated Isaac Sim 2022.2.1 to version 2023.1.1 and successfully run Isaac ROS Sample Scene in a native working environment following these instructions.

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However, the system began freezing excessively when clicking the “Play” button to begin the simulation and publish data from Isaac’s Sim. The animation takes a very long time to load, ros2 topic hz /front_stereo_camera/left_rgb/image_raw shows me result about < 1 Hz:

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To demonstrate the degree of freezing, I also have attached a link below to the video of a simulation where the robot “moves” at a speed of 0.5 m/s.

To tackle the issue, I reduced the viewport render resolution to 640x320 and optimized resource consumption based on a forum topic.

But unfortunately, the changes made did not result in stable operation and an increase in FPS in the simulator. It’s worth noting that this problem was not present in version 2022.2.1.

My mobile workstation configuration:
Hardware:

  • Intel i7 12th Gen
  • 32 GB RAM
  • GPU RTX A3000 12GB

Software:

  • Ubuntu 20.04
  • Nvidia driver 525.60.13
  • Native ROS2 Humble installed with the Isaac ROS Buildfarm.

Isaac Sim detects GPU:

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CPU Profiler:

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image797×978 273 KB

GPU Profiler:

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image789×980 229 KB

I would be immensely grateful if you could help me identify the problem and provide a solution.

Thank you!

2

Hi @daniil.khaninaev

Thank you for your post. I have reviewed your workstation configuration and it meets only our minimum requirements.

I think the reason your FPS is low is mainly because of this. You can also run another test by following this article:

3

Hi @daniil.khaninaev

I have some news: the newer release, the Nova Carter asset, replaced the older Carter v2 asset.
The old version contains many xforms and might be a big reason for the huge performance drop that you are noticing.

You can also follow the Isaac Sim troubleshooting to decrease the high CPU usage.

Best,
Raffaello