Isaac sim ignores ROS2/Moveit joint command timestamp

Omniverse Isaac Sim
1

Hi,

I found out that Isaac Sim completely ignores the given timestamp to execute joint trajectories.

My command:

[trajectory_action_server]: 4th / 31 joint command : sensor_msgs.msg.JointState(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=5, nanosec=2000000000), frame_id=''), name=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], position=[0.04621644234599901, -0.5730546630953146, 0.014253594801311756, -2.7888065234276636, -0.14999999035997064, 2.9458726318027986, 0.6963728694889666], velocity=[], effort=[])

As you see above, time is set to execute trajectory at 5.2 seconds, however, Isaac Sim ignores the timestamp I gave, and executes in random time. This is resulting bypasses in several waypoints. How can I manage this to execute all generated waypoints?

3

Hi @blueed96 The timestamp in the header is to specify the time the message it got sent. It doesn’t control when the message should be processed. If you want the command to be executed at time 5.2 seconds of your simulation, then you should add some dealy to send the command. Not sure if you are working with script or action graph. But if you are working with action graph, maybe you can check out this node Delay — Omniverse Extensions ?

4

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