Isaac Sim | OmniGraph | Read IMU node index out of bounds

Omniverse Isaac Sim
1

Hello,

We have an IMU sensor, and an OmniGraph node to read from the IMU, and later publish it to ROS2 using another node.
The read IMU node throws the following exception:

[Error] [omni.graph.core.plugin] /nakai_container/SensorsGraph/base_read_imu: Assertion raised in compute - index -1 is out of bounds for axis 0 with size 0
  File "/home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.sensor/omni/isaac/sensor/ogn/nodes/OgnIsaacReadIMU.py", line 79, in compute
    state.init_rot = readings[-1]["orientation"]

Though, the ROS2 topic does publish IMU messages fine afterwards.

4

Hello, thank you for reporting this issue. I think this might be one of the edge case where there’s no data populated in the very first physical step for the sensor. we will investigate into this issue further our end. Thanks again.