Isaac Sim Project: Virtual Port Environment Occupancy Map Issue

Omniverse Isaac Sim
1

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04
Windows 11

GPU Information

  • Model: RTX 3090Ti
  • Driver Version: 550

Topic Description

Detailed Description

(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)

Steps to Reproduce

  1. When generating a map using the Occupancy Map, nothing appears.
  2. We have added colliders and a rigid body to a simple cube.
  3. However, nothing shows up on the map.
  4. The ground size is 55000x35000 meters.

Error Messages

(If applicable, copy and paste any error messages you received)

Screenshots or Videos

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2

Please check if ROS2 Navigation — Omniverse IsaacSim is helpful.

4

Hey @Happy_korea. How big is the cube and what is the resolution of your map? What is the location of the cube? What is the upper and lower bound in z direction?

You can follow this tutorial Mapping — Omniverse IsaacSim to start with a small and simple map.

5

  1. Cube Sizes: I tested various cube sizes, including 10×10×10, 100×100×100, and 1000×1000×100 (in meters), as well as other custom sizes.

  2. Map Resolution: I used the default resolution after downloading Isaac Sim 4.1 without making any modifications.

  3. Cube Location: The cube was placed:

    • Right next to the robot,
    • Far away,
    • In the middle of the ground plane measuring 55,000×35,000.
      I repeated the process while changing these conditions.

  4. Z Direction Bounds: For the occupancy map, the upper bounds for the z-axis were tested at heights such as:

    • 0.1-0.1,
    • 0.56-1,
    • 10, 100, and 1000,
    • With an additional 5 meters above the specified cube height.

Thank you for pointing out where my explanation was lacking! I appreciate your guidance.

6

The default resolution is 5cm and your map is 55000x35000 meters. So that is ~1.1million x 0.7 million pixels. Why do you need such a big map with such a high resolution?
I tried with a 1000m x 1000m map and 5cm resolution and Isaac Sim would crash when calculating the occupancy map. Could you please try a smaller map or a lower resolution to help isolate the issue, whether it is a functional issue or memory issue?