No tf data received from Isaac SIM (ROS2 connection)

Hi , I’m struggling this issue for a long time.

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

tf tree>

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)

app: omni.isaac.sim-2022.1.1

[ fail ] [ 10.3s] omni.isaac.ros2_bridge_app:omni.isaac.sim-2022.1.1 (Count: 0)

============================================================
[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

ROS2 bridge module is loaded correctly , I think.

I refere to this topic

https://forums.developer.nvidia.com/t/standalone-ros2-bridge-fails-to-load/200201/11

But still loading Rviz time, tf data is not loaded.

Blockquote
~/Desktop$ ros2 topic list
/clicked_point
/clock
/downsampled_costmap
/downsampled_costmap_updates
/global_costmap/costmap
/global_costmap/costmap_updates
/global_costmap/voxel_marked_cloud
/initialpose
/local_costmap/costmap
/local_costmap/costmap_updates
/local_costmap/published_footprint
/local_costmap/voxel_marked_cloud
/local_plan
/map
/map_updates
/mobile_base/sensors/bumper_pointcloud
/parameter_events
/particlecloud
/plan
/robot_description
/rosout
/scan
/tf
/tf_static
/waypoints
(base) youiengi@youiengi-MS-7C94:~/Desktop$ ros2 topic list
/amcl/transition_event
/amcl_pose
/bt_navigator/transition_event
/clicked_point
/clock
/cmd_vel
/controller_server/transition_event
/cost_cloud
/downsampled_costmap
/downsampled_costmap_updates
/evaluation
/global_costmap/clearing_endpoints
/global_costmap/costmap
/global_costmap/costmap_raw
/global_costmap/costmap_updates
/global_costmap/footprint
/global_costmap/global_costmap/transition_event
/global_costmap/published_footprint
/global_costmap/voxel_grid
/global_costmap/voxel_marked_cloud
/goal_pose
/initialpose
/local_costmap/costmap
/local_costmap/costmap_raw
/local_costmap/costmap_updates
/local_costmap/footprint
/local_costmap/local_costmap/transition_event
/local_costmap/published_footprint
/local_costmap/voxel_marked_cloud
/local_plan
/map
/map_server/transition_event
/map_updates
/marker
/mobile_base/sensors/bumper_pointcloud
/odom
/parameter_events
/particle_cloud
/particlecloud
/plan
/planner_server/transition_event
/received_global_plan
/recoveries_server/transition_event
/robot_description
/rosout
/scan
/tf
/tf_static
/transformed_global_plan
/waypoint_follower/transition_event
/waypoints

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???

Blockquote
ros2 node info /rviz2
There are 4 nodes in the graph with the exact name “/rviz2”. You are seeing information about only one of them.
/rviz2
Subscribers:
/downsampled_costmap: nav_msgs/msg/OccupancyGrid
/downsampled_costmap_updates: map_msgs/msg/OccupancyGridUpdate
/global_costmap/costmap: nav_msgs/msg/OccupancyGrid
/global_costmap/costmap_updates: map_msgs/msg/OccupancyGridUpdate
/global_costmap/voxel_marked_cloud: sensor_msgs/msg/PointCloud
/local_costmap/costmap: nav_msgs/msg/OccupancyGrid
/local_costmap/costmap_updates: map_msgs/msg/OccupancyGridUpdate
/local_costmap/published_footprint: geometry_msgs/msg/PolygonStamped
/local_costmap/voxel_marked_cloud: sensor_msgs/msg/PointCloud
/local_plan: nav_msgs/msg/Path
/map: nav_msgs/msg/OccupancyGrid
/map_updates: map_msgs/msg/OccupancyGridUpdate
/mobile_base/sensors/bumper_pointcloud: sensor_msgs/msg/PointCloud2
/parameter_events: rcl_interfaces/msg/ParameterEvent
/particlecloud: geometry_msgs/msg/PoseArray
/plan: nav_msgs/msg/Path
/robot_description: std_msgs/msg/String
/scan: sensor_msgs/msg/LaserScan
/waypoints: visualization_msgs/msg/MarkerArray
Publishers:
/clicked_point: geometry_msgs/msg/PointStamped
/initialpose: geometry_msgs/msg/PoseWithCovarianceStamped
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
/waypoints: visualization_msgs/msg/MarkerArray
Service Servers:
/rviz2/describe_parameters: rcl_interfaces/srv/DescribeParameters
/rviz2/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/rviz2/get_parameters: rcl_interfaces/srv/GetParameters
/rviz2/list_parameters: rcl_interfaces/srv/ListParameters
/rviz2/set_parameters: rcl_interfaces/srv/SetParameters
/rviz2/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
/lifecycle_manager_localization/is_active: std_srvs/srv/Trigger
/lifecycle_manager_localization/manage_nodes: nav2_msgs/srv/ManageLifecycleNodes
/lifecycle_manager_navigation/is_active: std_srvs/srv/Trigger
/lifecycle_manager_navigation/manage_nodes: nav2_msgs/srv/ManageLifecycleNodes
Action Servers:

Action Clients:
/FollowWaypoints: nav2_msgs/action/FollowWaypoints
/navigate_to_pose: nav2_msgs/action/NavigateToPose

checking 4Rviz nodes are appeared.
transformer listeners are not received any data from server???

As a result of startup process, I found launch param. yaml working.

But tf is nost loaded in this yaml file yet.
suspect amcl parameter is incorrect in this case.

Blockquote
#amcl scan:=base_scan
amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: “base_link”
# base_footprint base_link
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: “map”
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: 0.4
laser_model_type: “likelihood_field”
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: “odom”
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: “nav2_amcl::DifferentialMotionModel”
# robot_model_type: “differential”
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
set_initial_pose: True
initial_pose: {x: -6.0, y: -1.0, z: 0.0, yaw: 3.14159}

commented out 1st sentence, lacalization become active.

Blockquote
~/Desktop$ ros2 node info /map_server
/map_server
Subscribers:
/clock: rosgraph_msgs/msg/Clock
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/map: nav_msgs/msg/OccupancyGrid
/map_server/transition_event: lifecycle_msgs/msg/TransitionEvent
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
Service Servers:
/map_server/change_state: lifecycle_msgs/srv/ChangeState
/map_server/describe_parameters: rcl_interfaces/srv/DescribeParameters
/map_server/get_available_states: lifecycle_msgs/srv/GetAvailableStates
/map_server/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
/map_server/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/map_server/get_parameters: rcl_interfaces/srv/GetParameters
/map_server/get_state: lifecycle_msgs/srv/GetState
/map_server/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
/map_server/list_parameters: rcl_interfaces/srv/ListParameters
/map_server/load_map: nav2_msgs/srv/LoadMap
/map_server/map: nav_msgs/srv/GetMap
/map_server/set_parameters: rcl_interfaces/srv/SetParameters
/map_server/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:

According to launched error, map node does not work well…
can adjust location active But Navigation is still inactive…

Were you able to figure out the cause of this error? I am encountering a similar issue in my work. @mikaneda

Hi ! Thank you for finding this topic.

For my verification of this issue, I can figure out some hint as below.

  1. Difference from joint name of URDF file and launch file specified name.

  2. Location data is resolved in current configuration in robot which is “Carter”. but when launching robots navigation time mismatching is occurred.

-Reference of similar issue,
ROS version, launch file (XML ↔ python )or environment is little bit different to resolve probably.

If using gazebo and Rviz2, this problem is not occurred.
But using Isaac SIM with ROS2 bridge and Rviz2, robot is not active due to above problems.

1 Like

Thank you. I also switched to ROS1 in place of the ROS2 bridge and was able to navigate with the robot.

Hi!

Unfortunately, I went traveling and cannot resolve this issue by this weekend.

When I tried it 1st time, sample was work with just colcon build sample . 2022.1.0 ver.

I don’t know why sample doesn’t work anymore.

I’ll try below resolution when I’ll be back.

https://forums.developer.nvidia.com/t/unable-to-run-ros2-navigation-sample/192436/3

https://dev.to/luckierdodge/how-to-call-a-service-from-a-ros2-launch-file-4l7p

Because Bt trees are not created due to the map service or node no working.

;)

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)

When I build tutorial model, it was working with default setting as above 2022.1.0 ver.

After few month, I don’t know why this example cannot load /tf map connection for each topic list.

Of course I created new Ubuntu environment, but tf connection is still abnormal.

Anyway, some setting or component is not match or wrong when launching the map, parameter and Rviz.

Error is sent from one of rviz node

Blockquote
[rviz2-1] [INFO] [1673778542.572912578] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service…

Blockquote
[rviz2-1] 2023-01-15 19:29:00.730 [XMLPARSER Error] Error opening ‘/home/youiengi/.ros/fastdds.xml’ → Function loadXML

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.

I’ve just been back travel now ; )

Sounds nice! Conguratuation.

Hi, rchadha

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.

My installation or setting looks incorrect from 1st setup time.

if no generate static tf publisher, Navigation and Location is not unknown…

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.

  1. Re-setup ROS2 foxy
  2. install pre-install script in the Isaac SIM folder.
  3. added insufficient components by try and go.

Thank you for everybody’s support!

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