Isaac Sim ROS2 SetPrimAttribute Import Error

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 5000 Ada
  • Driver Version: 535

When I try to instantiate a subscriber node to later move the position of a robot, the script fails with an internal isaac sim import error.

Code:

import rclpy
from rclpy.node import Node
from isaac_ros2_messages.srv._set_prim_attribute import SetPrimAttribute

class TranslateClientAsync(Node):

def __init__(self):
    super().__init__('translate_client_async')
    self.client = self.create_client(SetPrimAttribute, 'set_prim_attribute')
    while not self.cli.wait_for_service(timeout_sec=1.0):
        self.get_logger().info('set_prim_attribute service not availible')
    self.req = SetPrimAttribute.Request()

Error:
2025-03-14 21:09:43 [139,114ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
2025-03-14 21:09:43 [139,114ms] [Error] [omni.kit.app._impl] [py stderr]: File “/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py”, line 46, in import_type_support
2025-03-14 21:09:43 [139,114ms] [Error] [omni.kit.app._impl] [py stderr]: return importlib.import_module(module_name, package=pkg_name)
2025-03-14 21:09:43 [139,114ms] [Error] [omni.kit.app._impl] [py stderr]: File “/home/taylor/isaacsim/kit/python/lib/python3.10/importlib/init.py”, line 126, in import_module
2025-03-14 21:09:43 [139,115ms] [Error] [omni.kit.app._impl] [py stderr]: return _bootstrap._gcd_import(name[level:], package, level)
2025-03-14 21:09:43 [139,115ms] [Error] [omni.kit.app._impl] [py stderr]: File “”, line 1050, in _gcd_import
2025-03-14 21:09:43 [139,115ms] [Error] [omni.kit.app._impl] [py stderr]: File “”, line 1027, in _find_and_load
2025-03-14 21:09:43 [139,115ms] [Error] [omni.kit.app._impl] [py stderr]: File “”, line 1004, in _find_and_load_unlocked
2025-03-14 21:09:43 [139,115ms] [Error] [omni.kit.app._impl] [py stderr]: ModuleNotFoundError: No module named ‘isaac_ros2_messages.isaac_ros2_messages_s__rosidl_typesupport_c’
2025-03-14 21:09:43 [139,115ms] [Error] [omni.kit.app._impl] [py stderr]:
During handling of the above exception, another exception occurred:

2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: File “/home/taylor/isaacsim/frontiers_rl/src/RobotRL.py”, line 178, in
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: reset_node, random_pos_node, translate_subscriber, launcher = start_ros(simulation_app)
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: File “/home/taylor/isaacsim/frontiers_rl/src/RobotRL.py”, line 107, in start_ros
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: translate_subscriber = TranslateClientAsync()
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: File “/home/taylor/isaacsim/frontiers_rl/src/TranslateSubscriber.py”, line 10, in init
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: self.client = self.create_client(SetPrimAttribute, ‘set_prim_attribute’)
2025-03-14 21:09:43 [139,116ms] [Error] [omni.kit.app._impl] [py stderr]: File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py”, line 1413, in create_client
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: check_is_valid_srv_type(srv_type)
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py”, line 51, in check_is_valid_srv_type
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: check_for_type_support(srv_type)
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py”, line 29, in check_for_type_support
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: msg_or_srv_type.class.import_type_support()
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: File “/home/taylor/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros2_messages/lib/python3.12/site-packages/isaac_ros2_messages/srv/_set_prim_attribute.py”, line 316, in import_type_support
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: module = import_type_support(‘isaac_ros2_messages’)
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: File “/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py”, line 48, in import_type_support
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: raise UnsupportedTypeSupport(pkg_name)
2025-03-14 21:09:43 [139,117ms] [Error] [omni.kit.app._impl] [py stderr]: rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import ‘rosidl_typesupport_c’ for package ‘isaac_ros2_messages’

I am unsure why this error is occurring, and if someone could point me in the right direction I would appreciate it.

3

Hi @tabergeron ! Thanks for bringing this issue up. Let me reach out to our internal team.

4

Based on the error, it looks like you have python 3.12 installed. Could you please downgrade it to python 3.10? Isaac Sim 4.5.0 requires python 3.10 (ref)

5

I am unsure why that is pointing to python 3.12 as I followed all the install instructions. I am now using env_isaacsim to ensure version control.

For setting up my conda env I followed:

  • conda create -n env_isaacsim python=3.10
  • conda activate env_isaacsim
  • pip install isaacsim[all]==4.5.0 --extra-index-url https://pypi.nvidia.com
    *pip install isaacsim[extscache]==4.5.0 --extra-index-url https://pypi.nvidia.com
  • ./setup_conda_env.sh

For installing ROS I followed:
Install Isaac Sim ROS2 Packages: ROS and ROS 2 Installation — Isaac Sim Documentation
* clone GitHub - isaac-sim/IsaacSim-ros_workspaces: Isaac Sim ROS Workspaces
* cd IsaacSim-ros_workspaces/humble_ws
* sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
* sudo apt install python3-colcon-common-extensions
* source /opt/ros/humble/setup.bash
* cd humble_ws
* rosdep install -i --from-path src --rosdistro humble -y
* pip install catkin_pkg empy==3.3.4 numpy lark
* colcon build
* echo 'source ~/IsaacSim-ros_workspaces/humble_ws/install/setup.bash' >> ~/.bashrc
* source ~/.bashrc

I run my python script by first activating my env conda activate env_isaacsim, and then calling the scriptpython frontiers_rl/src/RobotRL.py

Error:
Traceback (most recent call last):
File “/home/taylor/isaacsim/frontiers_rl/src/RobotRL.py”, line 13, in
import carb
File “/home/taylor/isaacsim/kit/kernel/py/carb/init.py”, line 29, in
from ._carb import *
ImportError: libcarb.so: cannot open shared object file: No such file or directory

Since I don’t need carb, I removed the import, and get an issue with rclpy:
Traceback (most recent call last):
File “/home/taylor/isaacsim/frontiers_rl/src/RobotRL.py”, line 14, in
import rclpy
File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py”, line 49, in
from rclpy.signals import install_signal_handlers
File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/signals.py”, line 15, in
from rclpy.exceptions import InvalidHandle
File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/exceptions.py”, line 15, in
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py”, line 32, in
rclpy_implementation = import_c_library(‘._rclpy_pybind11’, package)
File “/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py”, line 39, in import_c_library
return importlib.import_module(name, package=package)
File “/home/taylor/miniconda3/envs/env_isaacsim/lib/python3.10/importlib/init.py”, line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
ImportError: librcl_action.so: cannot open shared object file: No such file or directory
The C extension ‘/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so’ failed to be imported while being present on the system. Please refer to ‘https://docs.ros.org/en/{distro}/Guides/Installation-Troubleshooting.html#import-failing-even-with-library-present-on-the-system’ for possible solutions

6

Why do you need to install catkin_pkg if you are using ROS2?
Based on your error message, you might need to checkout this page Installation troubleshooting — ROS 2 Documentation: Rolling documentation

8

I don’t believe it is my ROS installation as I know that works, but to confirm I reinstalled and I got the same error, and I installed catkin as a part of another approach, but it does not impact my error. I am very familiar with ROS so I doubt that is the issue as I have had no other issues than this one.

9

@tabergeron I have reached out to the internal team and they will investigate the issue.