Issue on ESS with Isaac Sim

[dsonmez]

Hi all,

I’m trying to figure out ROS topic communication between the ISAAC SIM and ISAAC ROS package on the Tutorial for ESS with Isaac Sim.

I have successfully completed the isaac_ros_ess section from this link. However, when I start the simulation on the ISAAC SIM (Isaac Examples → ROS → Isaac Ros → Sample Scene), I see the following topic list:

/clock
/cmd_vel
/front_3d_lidar/point_cloud
/front_stereo_camera/imu/data
/front_stereo_camera/left_rgb/camerainfo
/front_stereo_camera/left_rgb/image_raw
/front_stereo_camera/right_rgb/camerainfo
/front_stereo_camera/right_rgb/image_raw
/left_stereo_camera/imu/data
/odom
/parameter_events
/rear_stereo_camera/imu/data
/right_stereo_camera/imu/data
/rosout
/tf

But when I run the ros2 launch isaac_ros_ess isaac_ros_ess_isaac_sim.launch.py engine_file_path:=${ISAAC_ROS_WS:?}/isaac_ros_assets/models/dnn_stereo_disparity/dnn_stereo_disparity_v4.0.0/ess.engine threshold:=0.35 command inside ISAAC ROS container, Rviz screen shows different topic names and doesn’t even show any result on the grid:

So I looked into it and found that Rviz tries to listen to topics called /points2, /front_stereo_camera/left/image_resize, and /front_stereo_camera/right/image_resize. None of these are published by the ISAAC SIM.

I also changed the default topic names in Rviz to the ones that are actually published by the ISAAC SIM as follows: /front_3d_lidar/point_cloud, /front_stereo_camera/left_rgb/image_raw, and /front_stereo_camera/right_rgb/image_raw. After these changes, I see the output on the Rviz in real time (see the first answer for the image).

Why doesn’t it show the output as demonstrated in the documentation? (as the following picture):

[dsonmez]

I also changed the default topic names I Rviz to the ones that are actually published by the ISAAC SIM as follows: /front_3d_lidar/point_cloud, /front_stereo_camera/left_rgb/image_raw, and /front_stereo_camera/right_rgb/image_raw. After these changes, I see the output on the Rviz in real time:

[Raffaello]

Hi @dsonmez

Thank you for opening a topic and welcome to the Isaac ROS forum.
To better assist you, which version of Isaac Sim are you using? Based on the output you posted, it seems to be related to having the wrong version of Isaac Sim installed, as all demos are tested with Isaac Sim 4.0.0.

Isaac ROS demo requirements

Let me know if working with Isaac Sim 4.0.0 fixes your issue.

[dsonmez]

Hi @Raffaello,

Thanks for your answer. I was using Isaac Sim 2023.1.1 at the time of posting my original question. Then I just transitioned to Isaac Sim 4.1 but that one threw another error while testing VSLAM:
[component_container-1] Warning: Invalid frame ID "left/camera_info" passed to canTransform argument source_frame - frame does not exist [component_container-1] at line 93 in ./src/buffer_core.cpp

I just uninstalled Isaac Sim 4.1 and installed 4.0. I will try with this one and keep you posted.

[azmyin12]

Hi @dsonmez have you found a solution to this problem? I am facing this problem with a custom turtlebot simulated in isaac sim 4.5.0