Issue with [map] in ROS2 Navigation example + Isaac Sim 4.0.0

Omniverse Isaac Sim
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1

Hello!

I’ve been struggling a bit with ROS2 Navigation example in the latest Isaac Sim 4.0.0.
My ROS2 is installed, ROS2_Bridge is enabled and everything is sourced according to ROS2 installation guide and “ROS2 Navigation” tutorial.

Basically my issue is similar to this one:

According to the discussion in the link above - the issue was fixed in the version of Isaac Sim 2022.2.1.
Could it be though that it is back again and now appear in version 4.0.0 as a regression?

Additionally, this is what console output “says” to me:
[component_container_isolated.EXE-2] [INFO] [1720001248.167418300] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist

I appreciate any help, because those navigation examples just don’t work.

EDIT:
It seem to work if I remove Nova_Carter_ROS robot and insert Carter_ROS robot to a scene instead.

2

Hi @Anton_Hudym
Is this the example you’re referencing?..
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_navigation.html

To any Nvidia reps the tutorial on that page is now of date since the release of IsaacROS 3.0 and the name of the packages have changed. For instance the command…

ros2 launch carter_navigation carter_navigation.launch.py

The carter_navigation package has been changed to the nova_carter_navigation and I’m sure there will be other errors found.

3

I had the same issue but replaced the Nove_Carter with a Carter in the ROS2 navigation example and replaced all ROS1 nodes with the ROS2 equivalents and it works fine with the carter_navigation package. Here is the corrected project:
Carter_in_ROS2.zip (1.5 MB)

5

@Anton_Hudym Thanks for bringing this up to our attention.
For Nav2 with small warehouse, have you tried launching Nav2 before hitting the play button? I do notice that sometimes if I hit play button before launching ROS nodes, ROS nodes would have time out for receiving TF.
I just tried on my side and I didn’t need to change anything for the stage.