Nova_carter_bringup navigation not working

Omniverse Isaac Sim
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1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

GPU Information

  • Model: RTX 4080
  • Driver Version: 575.64.03

Description

Hi everyone, I am trying to follow this tutorial: Tutorial: Running Isaac Perceptor in Isaac Sim — isaac_ros_docs documentation to use the isaac perceptor, I followed the steps, but after launching nova_carter_bringup navigation, even if the images from camera and all other topics are normal, but the map is not shown, and the tf also has problems.

The two different points that are different from the tutorial are:

  1. I am using Isaac-sim 4.5.0, but the tutorial has only been tested with Isaac Sim 4.2.?
  2. I run the isaac-sim in my ubuntu 22.04 container, I can run other ros2 navigation packages in simulation inside the container, so I think my container is functioning.

I’d appreciate if anyone can give me some advice, thank you very much for your time!

Following are the screenshots and error messages:

image
image1911×1168 227 KB

image
image617×195 22.4 KB

image
image439×134 8.2 KB

And I can also get error messages in terminal:

[nice-6] [INFO] [1753793429.591207057] [nvblox_node]: Tried to clear map outside of radius but couldn't look up frame: base_link
[nice-6] [INFO] [1753793429.591376166] [nvblox_node]: Lookup transform failed for frame base_link. Layer pointclouds not published
[rviz2-5] [INFO] [1753793429.601670800] [rviz]: Message Filter dropping message: frame 'odom_vslam' at time 4415.617 for reason 'discarding message because the queue is full'

[rviz2-5] [INFO] [1753791493.290737143] [rviz]: Message Filter dropping message: frame 'odom_vslam' at time 3084.083 for reason 'discarding message because the queue is full'
[component_container_isolated-7] [INFO] [1753791493.362225867] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom_vslam to become available, tf error: Could not find a connection between 'odom_vslam' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
3

Hi @phocidaego! Are you trying to do global navigation? In your error message, it complains about map TF. Also can you try to run ros2 run tf2_tools view_frames to save your TF tree?

4

Hello!

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