More navigation2 tutorials

mmmmark · October 20, 2023, 8:26am

I have learned the navigation demo （https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_ros2_navigation.html ）and it is work well.
But I still don’t konw how to use navigation2 in a custom 3d scenes and cars，so I want to know if there are more related tutorials？
THANKS！！！

rudresh.lonkar · October 20, 2023, 1:25pm

Hey @mmmmark , did you use the 2023.1.0 version to go through the tutorials?
Somehow, the given Isaac example does not open properly for me. I can only see the Carter in the viewport. The warehouse and other assets are missing and highlighted red in the stage.

mmmmark · October 20, 2023, 3:44pm

I met the same problem in isaac sim 2023.1.0, so I still use Isaac sim 2022.2.1.

rthaker · October 30, 2023, 8:36pm

Hi @mmmmark /@rudresh.lonkar - Are you using this updated doc on the latest Isaac Sim? 7.2.7. ROS2 Navigation — Omniverse IsaacSim latest documentation

If you still face issue then can you share the repro/log?

mmmmark · October 31, 2023, 2:37am

I use the latest Isaac Sim ros_workspace from GitHub - NVIDIA-Omniverse/IsaacSim-ros_workspaces: Isaac Sim ROS Workspaces
. But when I launch the navigation example with ros2 launch carter_navigation carter_navigation.launch.py I get some errors:

[INFO] [launch]: All log files can be found below /home/yjyai/.ros/log/2023-10-31-10-22-56-260480-ai-14231
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'pointcloud_to_laserscan' not found, searching: ['/home/yjyai/test/IsaacSim-ros_workspaces/humble_ws/install/isaac_tutorials', '/home/yjyai/test/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_navigation_goal', '/home/yjyai/test/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros2_messages', '/home/yjyai/test/IsaacSim-ros_workspaces/humble_ws/install/custom_message', '/home/yjyai/test/IsaacSim-ros_workspaces/humble_ws/install/carter_navigation', '/opt/ros/humble']"
[INFO] [rviz2-1]: process started with pid [14242]
[INFO] [component_container_isolated-2]: process started with pid [14244]
[component_container_isolated-2] [INFO] [1698718977.509519770] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so
[component_container_isolated-2] [INFO] [1698718977.678631044] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-2] [INFO] [1698718977.678659578] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-2] [INFO] [1698718977.678663987] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1698718977.678667794] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1698718977.693674482] [map_server]: 
[component_container_isolated-2] 	map_server lifecycle node launched. 
[component_container_isolated-2] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1698718977.693706002] [map_server]: Creating
[component_container_isolated-2] [INFO] [1698718977.694072898] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so
[component_container_isolated-2] [INFO] [1698718977.697067912] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-2] [INFO] [1698718977.697087289] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[INFO] [rviz2-1]: sending signal 'SIGINT' to process[rviz2-1]
[INFO] [component_container_isolated-2]: sending signal 'SIGINT' to process[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1698718977.702551077] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-2] [INFO] [1698718977.702621181] [map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[component_container_isolated-2] [INFO] [1698718977.702653572] [map_server]: Destroying bond (map_server) to lifecycle manager.
[rviz2-1] [INFO] [1698718977.702752921] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-2] [ERROR] [1698718977.707115770] [nav2_container]: Component constructor threw an exception: Couldn't initialize state machine for node controller_server
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/nav2_container/_container/load_node' service response, due to shutdown.
Future exception was never retrieved
future: <Future finished exception=InvalidHandle('cannot use Destroyable because destruction was requested')>
Traceback (most recent call last):
  File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 197, in _load_in_sequence
    self._load_node(next_load_node_request, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 119, in _load_node
    while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 180, in wait_for_service
    return self.service_is_ready()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 159, in service_is_ready
    with self.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/nav2_container/_container/load_node' service response, due to shutdown.
Future exception was never retrieved
future: <Future finished exception=InvalidHandle('cannot use Destroyable because destruction was requested')>
Traceback (most recent call last):
  File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 197, in _load_in_sequence
    self._load_node(next_load_node_request, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 119, in _load_node
    while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 180, in wait_for_service
    return self.service_is_ready()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 159, in service_is_ready
    with self.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
[rviz2-1] [INFO] [1698718978.839436071] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1698718978.839477419] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1698718978.863260594] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-1]   what():  failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[ERROR] [rviz2-1]: process has died [pid 14242, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/yjyai/test/IsaacSim-ros_workspaces/humble_ws/install/carter_navigation/share/carter_navigation/rviz2/carter_navigation.rviz --ros-args'].
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running
[ERROR] [component_container_isolated-2]: process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container_isolated-2]: sending signal 'SIGTERM' to process[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1698718982.706098592] [rclcpp]: signal_handler(signum=15)
[ERROR] [component_container_isolated-2]: process[component_container_isolated-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [component_container_isolated-2]: sending signal 'SIGKILL' to process[component_container_isolated-2]

rthaker · November 1, 2023, 10:41pm

Hi @mmmmark - Did you follow these instructions while installing the ROS workspace? Running the new Isaac Sim ROS/ROS2 Bridge (Isaac Sim 2023.1.0 Release onwards)

At what step in this document, are you facing the error? 7.2.7. ROS2 Navigation — Omniverse IsaacSim latest documentation

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