Nvblox in Isaac sim do not work when adding namespace

Hi, recently I’m trying to using nvblox in isaac sim.
With sample code, now I can running it in my own USD scene.

But when I adding namespace, it wouldn’t receive map.(costmaps too.)

In future, I need to using multiple robots with nvblox in Issac Sim, so I really want to solve this problem.

I can see only white;blank rviz window. While pointcloud2 topic only working.
I’m pretty much new to ros2, So I’m sure I’ve missing something.
Please help me.
nvblox_carter_0.launch.py (5.5 KB)
multi_robot_carter_navigation_params_0.yaml (8.1 KB)

nvblox.yaml was not modded.

log in below.

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [158548]
[INFO] [controller_server-2]: process started with pid [158550]
[INFO] [smoother_server-3]: process started with pid [158552]
[INFO] [planner_server-4]: process started with pid [158554]
[INFO] [behavior_server-5]: process started with pid [158556]
[INFO] [bt_navigator-6]: process started with pid [158558]
[INFO] [waypoint_follower-7]: process started with pid [158560]
[INFO] [velocity_smoother-8]: process started with pid [158562]
[INFO] [lifecycle_manager-9]: process started with pid [158564]
[INFO] [nvblox_node-10]: process started with pid [158566]
[INFO] [static_transform_publisher-11]: process started with pid [158568]
[static_transform_publisher-11] [WARN] [1667892202.139769403] : Old-style arguments are deprecated; see --help for new-style arguments
[controller_server-2] [INFO] [1667892202.150246348] [controller_server]:
[controller_server-2] controller_server lifecycle node launched.
[controller_server-2] Waiting on external lifecycle transitions to activate
[controller_server-2] See Managed nodes for more information.
[planner_server-4] [INFO] [1667892202.155330273] [planner_server]:
[planner_server-4] planner_server lifecycle node launched.
[planner_server-4] Waiting on external lifecycle transitions to activate
[planner_server-4] See Managed nodes for more information.
[controller_server-2] [INFO] [1667892202.156885891] [controller_server]: Creating controller server
[planner_server-4] [INFO] [1667892202.158457500] [planner_server]: Creating
[velocity_smoother-8] [INFO] [1667892202.158866144] [velocity_smoother]:
[velocity_smoother-8] velocity_smoother lifecycle node launched.
[velocity_smoother-8] Waiting on external lifecycle transitions to activate
[velocity_smoother-8] See Managed nodes for more information.
[behavior_server-5] [INFO] [1667892202.159210226] [behavior_server]:
[behavior_server-5] behavior_server lifecycle node launched.
[behavior_server-5] Waiting on external lifecycle transitions to activate
[behavior_server-5] See Managed nodes for more information.
[lifecycle_manager-9] [INFO] [1667892202.159311278] [lifecycle_manager_navigation]: Creating
[static_transform_publisher-11] [INFO] [1667892202.160338344] [static_transform_publisher_gBzgnkKAXFWaM4ek]: Spinning until stopped - publishing transform
[static_transform_publisher-11] translation: (‘0.000000’, ‘0.000000’, ‘-0.300000’)
[static_transform_publisher-11] rotation: (‘0.000000’, ‘0.000000’, ‘0.000000’, ‘1.000000’)
[static_transform_publisher-11] from ‘map’ to ‘odom’
[waypoint_follower-7] [INFO] [1667892202.160741689] [waypoint_follower]:
[waypoint_follower-7] waypoint_follower lifecycle node launched.
[waypoint_follower-7] Waiting on external lifecycle transitions to activate
[waypoint_follower-7] See Managed nodes for more information.
[waypoint_follower-7] [INFO] [1667892202.161405978] [waypoint_follower]: Creating
[smoother_server-3] [INFO] [1667892202.161536655] [smoother_server]:
[smoother_server-3] smoother_server lifecycle node launched.
[smoother_server-3] Waiting on external lifecycle transitions to activate
[smoother_server-3] See Managed nodes for more information.
[lifecycle_manager-9] [INFO] [1667892202.161857333] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[smoother_server-3] [INFO] [1667892202.163451134] [smoother_server]: Creating smoother server
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-admin’
[bt_navigator-6] [INFO] [1667892202.167361384] [bt_navigator]:
[bt_navigator-6] bt_navigator lifecycle node launched.
[bt_navigator-6] Waiting on external lifecycle transitions to activate
[bt_navigator-6] See Managed nodes for more information.
[bt_navigator-6] [INFO] [1667892202.167530104] [bt_navigator]: Creating
[planner_server-4] [INFO] [1667892202.169923670] [global_costmap.global_costmap]:
[planner_server-4] global_costmap lifecycle node launched.
[planner_server-4] Waiting on external lifecycle transitions to activate
[planner_server-4] See Managed nodes for more information.
[controller_server-2] [INFO] [1667892202.170227536] [local_costmap.local_costmap]:
[controller_server-2] local_costmap lifecycle node launched.
[controller_server-2] Waiting on external lifecycle transitions to activate
[controller_server-2] See Managed nodes for more information.
[planner_server-4] [INFO] [1667892202.170641591] [global_costmap.global_costmap]: Creating Costmap
[controller_server-2] [INFO] [1667892202.170951538] [local_costmap.local_costmap]: Creating Costmap
[nvblox_node-10] terminate called after throwing an instance of ‘rclcpp::exceptions::InvalidParameterTypeException’
[nvblox_node-10] what(): parameter ‘use_sim_time’ has invalid type: Wrong parameter type, parameter {use_sim_time} is of type {bool}, setting it to {string} is not allowed.
[nvblox_node-10] *** Aborted at 1667892202 (unix time) try “date -d @1667892202” if you are using GNU date ***
[nvblox_node-10] PC: @ 0x7f4193f1600b gsignal
[nvblox_node-10] *** SIGABRT (@0x3e800026b66) received by PID 158566 (TID 0x7f41931cf000) from PID 158566; stack trace: ***
[nvblox_node-10] @ 0x7f41946c2631 (unknown)
[nvblox_node-10] @ 0x7f41945f1420 (unknown)
[nvblox_node-10] @ 0x7f4193f1600b gsignal
[nvblox_node-10] @ 0x7f4193ef5859 abort
[nvblox_node-10] @ 0x7f419417e911 (unknown)
[nvblox_node-10] @ 0x7f419418a38c (unknown)
[nvblox_node-10] @ 0x7f419418a3f7 std::terminate()
[nvblox_node-10] @ 0x7f419418a6a9 __cxa_throw
[nvblox_node-10] @ 0x7f419447155d _ZL24declare_parameter_helperRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN6rclcpp13ParameterTypeERKNS7_14ParameterValueEN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEbRSt3mapIS4_NS7_15node_interfaces13ParameterInfoESt4lessIS4_ESaISt4pairIS5_SJ_EEERKSH_IS4_S9_SL_SaISM_IS5_S9_EEERNS_4listISt8weak_ptrINSI_29OnSetParametersCallbackHandleEESaISZ_EEERKSt8functionIFNSD_20SetParametersResult_ISF_EERKSt6vectorINS7_9ParameterESaIS17_EEEEPNS7_9PublisherINSD_15ParameterEvent_ISF_EESF_EES6_RNSI_18NodeClockInterfaceE.cold
[nvblox_node-10] @ 0x7f41944d4061 rclcpp::node_interfaces::NodeParameters::declare_parameter()
[nvblox_node-10] @ 0x7f4194565e87 rclcpp::TimeSource::NodeState::attachNode()
[nvblox_node-10] @ 0x7f419453887f rclcpp::TimeSource::attachNode()
[nvblox_node-10] @ 0x7f41944e61e8 rclcpp::node_interfaces::NodeTimeSource::NodeTimeSource()
[nvblox_node-10] @ 0x7f41944ba683 rclcpp::Node::Node()
[nvblox_node-10] @ 0x7f41944bb588 rclcpp::Node::Node()
[nvblox_node-10] @ 0x7f4194fcb3c6 nvblox::NvbloxNode::NvbloxNode()
[nvblox_node-10] @ 0x556b92fad0e0 main
[nvblox_node-10] @ 0x7f4193ef7083 __libc_start_main
[nvblox_node-10] @ 0x556b92fad34e _start
[ERROR] [nvblox_node-10]: process has died [pid 158566, exit code -6, cmd ‘/workspaces/isaac_ros-dev/install/nvblox_ros/lib/nvblox_ros/nvblox_node --ros-args --params-file /workspaces/isaac_ros-dev/install/nvblox_nav2/share/nvblox_nav2/params/warehouse/nvblox_0.yaml --params-file /tmp/launch_params_07aopexu -r depth/image:=/left/depth -r depth/camera_info:=/left/camera_info -r color/image:=/left/rgb -r color/camera_info:=/left/camera_info -r pointcloud:=/point_cloud’].
[rviz2-1] [INFO] [1667892202.789699439] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1667892202.789794108] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1667892202.900453146] [rviz2]: Stereo is NOT SUPPORTED
[lifecycle_manager-9] [INFO] [1667892204.241924458] [lifecycle_manager_navigation]: Starting managed nodes bringup…
[lifecycle_manager-9] [INFO] [1667892204.241982117] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-2] [INFO] [1667892204.242436829] [controller_server]: Configuring controller interface
[controller_server-2] [INFO] [1667892204.242840504] [controller_server]: getting goal checker plugins…
[controller_server-2] [INFO] [1667892204.243353506] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-2] [INFO] [1667892204.243395566] [local_costmap.local_costmap]: Configuring
[controller_server-2] [INFO] [1667892204.250626660] [local_costmap.local_costmap]: Using plugin “static_layer”
[controller_server-2] [INFO] [1667892204.255038821] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-2] [INFO] [1667892204.256079623] [local_costmap.local_costmap]: Initialized plugin “static_layer”
[controller_server-2] [INFO] [1667892204.256095874] [local_costmap.local_costmap]: Using plugin “obstacle_layer”
[controller_server-2] [INFO] [1667892204.256818083] [local_costmap.local_costmap]: Subscribed to Topics:
[controller_server-2] [INFO] [1667892204.256854071] [local_costmap.local_costmap]: Initialized plugin “obstacle_layer”
[controller_server-2] [INFO] [1667892204.256861706] [local_costmap.local_costmap]: Using plugin “inflation_layer”
[controller_server-2] [INFO] [1667892204.257660630] [local_costmap.local_costmap]: Initialized plugin “inflation_layer”
[controller_server-2] [INFO] [1667892204.265152268] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-2] [INFO] [1667892204.265732237] [controller_server]: Created goal checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-2] [INFO] [1667892204.266184794] [controller_server]: Controller Server has goal_checker goal checkers available.
[controller_server-2] [INFO] [1667892204.268003762] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-2] [INFO] [1667892204.268970203] [controller_server]: Setting transform_tolerance to 0.100000
[controller_server-2] [ERROR] [1667892204.278042436] [controller_server]: Couldn’t load critics! Caught exception: No critics defined for FollowPath
[controller_server-2] [ERROR] [1667892204.281774869] : Caught exception in callback for transition 10
[controller_server-2] [ERROR] [1667892204.281786742] : Original error: No critics defined for FollowPath
[controller_server-2] [WARN] [1667892204.281804676] : Error occurred while doing error handling.
[controller_server-2] [FATAL] [1667892204.281811839] [controller_server]: Lifecycle node controller_server does not have error state implemented
[lifecycle_manager-9] [ERROR] [1667892204.283972224] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-9] [ERROR] [1667892204.284003333] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

Line 110 of your nvblox_carter_0.launch.py is showing a value of ‘True’ for ‘use_sim_time’ which should be True instead. That should help here.