Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: Laptop RTX 4090
- Driver Version: 550.120
Topic Description
Detailed Description
I was following a the “Ackerman controller” tutorial for Isaac sim 4.5 when I noticed some things are outdated/wrong:
- The “ackermann controller” omnigraph node does not have the “current linear velocity” input, so connecting the “Isaac compute odometry node” output to it (as shown in step 4) is not possible. I don’t see any similar inputs
- Trying to connect the “ackermann controller” omnigraph to a double-input “Make array” omnigraph gives the following error. I can connect the output of the “ackermann controller” omnigraph directly to the “articulation controller” input, so perhaps the “make array” is no longer necessary?:
2025-04-21 15:51:04 [395,303ms] [Warning] [omni.graph.core.plugin] /car/ackermann_controller_og/ackermann_controller.outputs:wheelAngles of type double[] is not compatible with /car/ackermann_controller_og/make_array.inputs:input0 of type union of bool colord[3] colord[4] colorf[3] colorf[4] colorh[3] colorh[4] double double[2] double[3] double[4] float float[2] float[3] float[4] frame[4] half half[2] half[3] half[4] int int64 int[2] int[3] int[4] matrixd[2] matrixd[3] matrixd[4] normald[3] normalf[3] normalh[3] pointd[3] pointf[3] pointh[3] quatd[4] quatf[4] quath[4] texcoordd[2] texcoordd[3] texcoordf[2] texcoordf[3] texcoordh[2] texcoordh[3] timecode token transform[4] uchar uint uint64 vectord[3] vectorf[3] vectorh[3]