My system setup:
ubuntu22.04
ros2 humble
Isaac Sim workstation installation, 4.1.0
In the beginning, I have edited the stage which contain the robots, multiple realsense D455 cameras, and action graph with ros2 bridge node in GUI, when click the Play button, everything works well, I can see the camera relevant topic by ‘ros2 topic list’ command and echo the topic can get the camera data. Then I Stop the simulation and save the all stage as the usds format file.
Next, I launch the Isaac Sim by standalone python script, and load the previously saved usda file, click the Play button, something works not as expected.
On the one hand, the terminal show the following error log,
2024-09-27 03:44:49 [8,462ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
Loading Complete
2024-09-27 03:44:51 [10,411ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/franka_left with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
2024-09-27 03:44:52 [10,842ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-27 03:44:52 [10,844ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
2024-09-27 03:44:52 [10,935ms] [Error] [omni.isaac.core_nodes.impl.base_writer_node] Could not process writer attach request (<omni.replicator.core.scripts.writers.NodeWriter object at 0x7204c97900a0>, None), Invalid NodeObj object in Py_Node in getAttributes
2024-09-27 03:44:52 [10,974ms] [Error] [omni.isaac.core_nodes.impl.base_writer_node] Could not process writer attach request (<omni.replicator.core.scripts.writers.NodeWriter object at 0x7204c9790220>, None), Invalid NodeObj object in Py_Node in getAttributes
2024-09-27 03:44:52 [10,976ms] [Error] [omni.isaac.core_nodes.impl.base_writer_node] Could not process writer attach request (<omni.replicator.core.scripts.writers.NodeWriter object at 0x72046818fa30>, None), Invalid NodeObj object in Py_Node in getAttributes
2024-09-27 03:44:52 [11,189ms] [Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
2024-09-27 03:44:52 [11,193ms] [Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
2024-09-27 03:44:52 [11,193ms] [Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
2024-09-27 03:44:52 [11,209ms] [Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
2024-09-27 03:44:52 [11,232ms] [Error] [omni.graph] Invalid Node object passed to Graph.get_graph_from_node
2024-09-27 03:44:52 [11,260ms] [Error] [omni.isaac.core_nodes.impl.base_writer_node] Could not process writer attach request (<omni.replicator.core.scripts.writers.NodeWriter object at 0x720468159090>, '/Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0'), Invalid NodeObj object in Py_Node in getTypeName
On the other hand, there is no camera relevant topic when run the ‘ros2 topic list’ command.
Here is my action graph,
Any hits on this subject are sincerely appreciated!