When I changed extension from ROS1 to ROS2 bridge some warning and error detected.
I’m not sure these errors affect this issue or not.
Before I using ROS2 bridge connection without problem.
update graphic driver(510 to 520) --> No change
re-install OS ---> No change
mannually send --> display changed but result is not proceeded.
E.g.
ros2 run tf2_ros static_transform_publisher 0 0 0.21 0 0 0 map odom
Ubuntu 20.04 LTS
ROS 2 foxy
relating
From Isaac SIM (carter) to Rviz2
Blockquote
5.814s] [ext: omni.isaac.sim.base-2022.1.1] startup
[5.814s] [ext: omni.isaac.sim-2022.1.1] startup
[5.910s] app ready
[7.989s] Isaac Sim App is loaded.
[346.231s] [ext: omni.kit.registry.nucleus-0.0.0] startup
[352.333s] [ext: omni.isaac.sim-2022.1.1] shutdown
[352.334s] [ext: omni.isaac.sim.base-2022.1.1] shutdown
[352.334s] [ext: omni.isaac.ros_bridge-1.4.1] shutdown
[355.463s] [ext: omni.isaac.ros2_bridge-1.5.0] startup
2022-12-02 06:53:16 [376,354ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Api/Connection search: Not connected
2022-12-02 06:53:17 [377,828ms] [Warning] [carb.flatcache.plugin] UsdRelationship /World/Carter_ROS/ActionGraph/ros2_publish_transform_tree_01.inputs:targetPrims has multiple targets, which is not supported
2022-12-02 06:53:17 [377,918ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:jointNames’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-02 06:53:17 [377,918ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames
At:
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): setattr
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(219): initialize
2022-12-02 06:53:17 [377,925ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:angularVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-02 06:53:17 [377,925ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:linearVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-02 06:53:17 [378,004ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-12-02 06:53:17 [378,004ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr
2022-12-02 06:53:20 [380,254ms] [Warning] [gpu.foundation.plugin] Requesting texture to use texture streaming, but the service isn’t available.The texture will be created as a regular resource.
2022-12-02 07:09:17 [1,337,547ms] [Warning] [carb.flatcache.plugin] Type tag does not have a corresponding USD type
even If ROS bridge shut down, ROS2 bridge doesn’t work well as below.
[Result of extension test]
============================================================
Extension Tests Run Summary (Date: 2022-12-02T22-41-47)
============================================================
[ERROR] 1 tests processes failed out of 1.
Generating a Test Report…
Coverage for omni.isaac.ros2_bridge_app:omni.isaac.sim-2022.1.1 is 0%
Full report available here /home/youiengi/.local/share/ov/data/_testoutput/test_report/index.html
Blockquote
2022-12-04 13:40:33 [137,892ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:angularVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-04 13:40:33 [137,892ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:linearVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-04 13:40:33 [137,906ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:jointNames’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-04 13:40:33 [137,907ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames
At:
/home/youiengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
/home/youiengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
/home/youiengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): setattr
/home/youiengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(219): initialize
2022-12-04 13:40:34 [138,026ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-12-04 13:40:34 [138,026ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr
Blockquote
/Desktop$ ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/amcl
/amcl_rclcpp_node
/bt_navigator
/bt_navigator_rclcpp_node
/controller_server
/controller_server_rclcpp_node
/global_costmap/global_costmap
/global_costmap/global_costmap_rclcpp_node
/global_costmap_client
/lifecycle_manager_localization
/lifecycle_manager_localization_service_client
/lifecycle_manager_navigation
/lifecycle_manager_navigation_service_client
/local_costmap/local_costmap
/local_costmap/local_costmap_rclcpp_node
/local_costmap_client
/map_server
/planner_server
/planner_server_rclcpp_node
/recoveries_server
/recoveries_server_rclcpp_node
/rviz2
/rviz2
/rviz2
/rviz2
/transform_listener_impl_5577cd476210
/transform_listener_impl_559f4888c230
/transform_listener_impl_561dbd3bc110
/transform_listener_impl_5636a3e6a9a0
/transform_listener_impl_565310448c20
/waypoint_follower
/waypoint_follower_rclcpp_node
looks only 1 Rviz2 is launched. but several = 4 /rviz2 are found. is it affect tf no data , from speaker to listener communication fail???
Are the other ROS2 tutorials working correctly? Also, are you able to verify that you can teleop the carter robot when you hit play? (After you load the ROS2 Navigation example)
Blockquote
[rviz2-1] Warning: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
working on the gazebo , turtlesim_node is no problem.
In my 1st PC failed telop twist command .
will try similar command in my office PC in my local working time.
As a result of checking turorial from1 to 4 . robot control is no problem.
In my 1st try, Carter navigation was no issue occurred.
Thus will try uninstall current component and re-install again.
But I’ve already been faced failure, although re-install.
it may be remained old files in the ubuntu somewhere.
According to your resolved report, my issue is not so far from correct way.
because Carter launch file is not complex.
Finally I recovered my insufficient to work carter from tutorial.
Re-setup ROS2 foxy
install pre-install script in the Isaac SIM folder.