Multi-robot navigation example doesn't work

[juan17]

Hey!

I was hoping to do some testing with multi-robot navigation as one of our systems will eventually need command and plan multiple robot paths.

I was going to use Isaac’s multi-robot navigation example as reference, but when I went to run it, it didn’t work.

I’ve built the humble_ws. When I go to launch the office example I expect to see the three windows with the office map loaded for each one, as well as the correct transforms for each of the carter robots. Unfortunately, this doesn’t happen. The three Rviz windows are brought up, but none of them receive the occupancy map or the map transform.

The following errors show up in the logger:

I have made no changes to the scene or to the code. I am attempting to run all of this with the ROS2 humble bridge extension in Isaac.

Any insight as to what the problem would be is appreciated.

[juan17]

Realized that this is an ongoing issue that won’t be patched until August.

(ROS2 Humble) Requesting update on source code for "7. Multiple Robot ROS2 Navigation" tutorial that is compatible with ROS2 Humble

Hello. Our team is currently coordinating an experimental project on testing the feasibility of multiple robot navigation simulation for warehouse automation. I would love to test Isaac Sim’s “7. Multiple Robot ROS2 Navigation” tutorial (https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros2_multi_navigation.html) but it seems like the source code provided is not compatible with ROS2 Humble and the recent version of the Navigation2 stack. I have posted multiple times on thi…

[jaeyeun]

thanks!
i hope this issue with multi robot navigation with ROS2 Humble Bridge gets resolved in the next Isaac Sim update.

[juan17]

For those wanting a solution to this problem, check out the linked topic above! I found a fix for the problem and posted it there.