ISAAC Sim ROS2 Bridge Startup Failed

[ryandouglas159]

I’m trying to run the ISAAC Sim version 2023.1.0 with the ros2 bridge extension enabled. I’m running on Ubuntu 22.04.3 with ROS2 Humble. The simulation loads, but the ros2 bridge fails to load and this is the error I’m getting in the startup console. How can I fix this problem?

[9.695s] Simulation App Startup Complete
[9.706s] [ext: omni.isaac.ros2_bridge-2.3.8] startup
2023-10-22 07:35:15 [9,723ms] [Error] [omni.isaac.ros2_bridge.plugin] Could not load the dynamic library from libomni.isaac.ros2_bridge.humble.so. Error: libvision_msgs__rosidl_typesupport_c.so: cannot open shared object file: No such file or directory
2023-10-22 07:35:15 [9,723ms] [Error] [omni.isaac.ros2_bridge.plugin] Could not load ROS2 Bridge due to missing library dependencies, please make sure your sourced ROS2 workspace has the correct packages/libraries installed
[9.734s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/pc/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.ros2_bridge/humble/lib
Before starting Isaac Sim
2023-10-22 07:35:15 [9,723ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS2 Bridge startup failed
[9.735s] Attempting to load system rclpy
[9.768s] rclpy loaded
[9.937s] [ext: omni.isaac.ros2_bridge-2.3.8] shutdown

[Simplychenable]

@ryandouglas159 this post by the mod in another thread could come in handy -

Can't launch Isaac Sim Version 2023.1.0 with Ros2 Selected

Hi @wws9, Hi @jaohsu, if you have a system level ROS2 Humble/Foxy install, as you long as you source the install in your bashrc or in the terminal before starting through the launcher or running isaac-sim.sh or ./python.sh from the terminal, you should be able to access all your ROS packages installed on your system from Isaac Sim. What @jaohsu mentioned is recommended when you don’t have any system level ROS install and therefore have to use the libraries shipped with Isaac Sim.

[ryandouglas159]

The post by the mod wasn’t the answer, but the answer posted before the mod in the same thread (Can't launch Isaac Sim Version 2023.1.0 with Ros2 Selected - #2 by jaohsu) worked for me.

However, I did learn that I should only run this command in the terminal where I am going to run the ISAAC simulator. If I run this command in my catkin workspace for example, then the colcon build fails. So I don’t put it in my ~/.bashrc to avoid this.

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.ros2_bridge/humble/lib

[Ayush_G]

Just to clarify do you have vision_msgs installed in your local ROS install? The steps to setup your local ROS installation can be found here after choosing the appropriate tabs corresponding to your OS.

The libraries shipped with Isaac Sim are only the minimum required to run Isaac Sim if a local install is not present. Trying to build your own ROS workspace with those libraries may cause you to run into issues and is not recommended.

[ryandouglas159]

I do not have vision_msgs (vision_msgs - ROS Wiki) installed if this is what you are referring to, and it appears to only be supported on ROS1 whereas I am using ROS2. Also, the link you provided doesn’t seem to work.

[Ayush_G]

Apologies for the broken link, I have updated my earlier post with the correct one. In that tutorial, it directs you to install vision_msgs first before running Isaac Sim. And I am referring to the ROS2 vision_msgs package

[ryandouglas159]

Oh yeah, that did the trick too. I ran this command to install it like the instruction said.

sudo apt install ros-humble-vision-msgs

Then I started up the ISAAC sim, and it works too. So I don’t need to run the export LD_LIBRARY_PATH anymore.