I tried to implement the ROS Navigation Stack on Omniverse.
I found on the forum that the “ros_to_navigation_unity3d” sample application also works on Omniverse.
I tried the same , but it didn’t work as expected.
I confirm that it is working fine in Unity.
I looked at the rqt_graph and could see that some topics were not communicating between nodes.
I used carter_warehouse_with_forklifts.usd.(Navsim application Worked)
What I did was to convert the “virtual_test_warehouse_1” map to ROS, create a yaml and json file, and pass it to the Isaac application.
virtual_test_warehouse_1.pgm (244.4 KB)
virtual_test_warehouse_1.yaml (130 Bytes)
virtual_test_warehouse_1_map_transformation.config.json (232 Bytes)
Isaac application launch
bazel run packages/ros_bridge/apps:ros_to_navigation_unity3d -- --more apps/assets/maps/virtual_test_warehouse_1.json --config ros_navigation:packages/ros_bridge/maps/virtual_test_warehouse_1_map_transformation.config.json,ros_navigation:packages/ros_bridge/apps/ros_to_navigation_turtlebot3_waffle_pi.config.json
TURTLEBOT3_MODEL=waffle_pi roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$(realpath packages/ros_bridge/maps/virtual_test_warehouse_1.yaml)
I received the following error from ROS.
[ WARN] [1611044070.335597565]: No laser scan received (and thus no pose updates have been published) for 1611044070.335575 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1611044072.502877035]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.101038 timeout was 0.1.
It seems that the map_server node is not communicating properly.
Is there any configuration that I’m missing?