Issue: ros2_control_node Segfault in Isaac Manipulator Pose-to-Pose Workflow (Jazzy + Isaac Sim)

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi NVIDIA team,

I’m running the Isaac for Manipulation Pose-to-Pose tutorial exactly as documented, with no modifications:

  1. Setup guide:
    https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/setup/setup_guide_isaac_sim.html

  2. Pose-to-Pose workflow:
    https://nvidia-isaac-ros.github.io/reference_workflows/isaac_for_manipulation/tutorials/isaac_sim/tutorial_isaac_sim_pose_to_pose.html

The workflow consistently fails with a segmentation fault in ros2_control_node during launch.

Environment

  • OS: Ubuntu 24.04 (Noble)

  • ROS 2: Jazzy (apt install)

  • Isaac ROS: Version 4.0 built in docker via isaac-ros-cli

  • Isaac Manipulator: Built from source inside docker container following the tutorial

  • Isaac Sim Version: 5.1.0

  • Host Machine Python Version: 3.12

Workspace built using:

export MANIPULATOR_INSTALL_ASSETS=1
colcon build --symlink-install --packages-up-to isaac_manipulator_bringup

Steps to Reproduce

  1. Launch Isaac Sim, load the provided scene, press Play.

  2. In terminal:

isaac-ros activate
cd /workspaces/isaac_ros-dev
source install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  1. Run the pose-to-pose workflow:
ros2 launch isaac_manipulator_bringup workflows.launch.py \
  manipulator_workflow_config:=$(ros2 pkg prefix --share isaac_manipulator_bringup)/params/sim_launch_params.yaml

Observed Behavior

ros2_control_node immediately crashes:

[ERROR] [ros2_control_node-7]: process has died [exit code -11]
Segmentation fault (Address not mapped to object)
hardware_interface::ResourceManager::load_and_initialize_components(...)

After this, the entire launch is torn down (move_group, spawners, gripper driver, etc.).

This happens every time, even with a clean rebuild and no modifications to NVIDIA configs.

Troubleshooting Already Tried

  • Removed system robotiq_description and robotiq_controllers Debian packages to avoid overlay conflicts

  • Clean rebuild: rm -rf build install log

  • Rebuilt manipulator with assets:
    export MANIPULATOR_INSTALL_ASSETS=1 && colcon build

  • Verified CycloneDDS is being used

  • Verified Isaac Sim ROS bridge is active and joint states are being published

  • Confirmed no local modifications to launch files or configs

  • Followed the tutorial steps exactly on a fresh setup

The crash remains identical.

Request for NVIDIA Support

Could you help clarify:

  1. Is this a known issue with ROS 2 Jazzy + ros2_control in the Manipulator workflow?

  2. Are there additional patches or steps required to run Manipulator on Jazzy/24.04?

Happy to provide:

  • Full logs

  • Container info

  • Isaac Sim version

  • Stack trace

  • Console output

Thank you!