log.txt (52.9 KB)
Hello, I am working with Isaac ROS NVBLOX inside Docker (WSL2 + Ubuntu 20.04), connected to Isaac Sim. I followed the instructions on this NVIDIA page: Isaac Sim Examples — isaac_ros_docs documentation step‑by‑step.
Setup & environment:
Isaac Sim version: 4.5
CUDA version (Windows host): 576
GPU: RTX 4070
Docker base: nvcr.io/nvidia/isaac/ros:<tag>
ROS workspace: Source‑build with nvblox_core, nvblox_ros, nvblox_msgs rebuilt in Release mode
Host: Windows 10/11 + WSL2
Sensor data available:
Isaac Sim ground‑truth stereo depth: /front_stereo_camera/depth/ground_truth (~10 Hz) with frame_id=front_stereo_camera_left_optical
Valid TF chain: map → odom → base_link → camera frames (checked via view_frames)
Other sensors active: 3D LiDAR, RGB stereo, with their data topics publishing correctly
/nvblox_node/color_layer and /nvblox_node/static_esdf_pointcloud publish valid data
Problem:
/nvblox_node/mesh topic exists but every message is empty (blocks: []).
Lowering mesh_integrator_min_weight to 0.0, increasing update_mesh_rate_hz to 10.0, moving the robot/camera, keeping subscribers active → still zero mesh blocks.
Exporting mesh .ply directly also produces an empty file.
Debug log shows TSDF integration executing, yet mesh integration output remains at zero blocks.
Parameters verified:
global_frame: "odom"
robot_base_frame: "base_link"
use_tf_transforms: true
mesh_integrator_min_weight: 0.0
max_blocks_per_stream: 100000
Could this be a known issue with Isaac ROS NVBLOX running on Isaac Sim 4.5 ground‑truth depth when other sensor streams (e.g. 3D LiDAR) are active? Am I missing a required build flag or runtime parameter for GPU mesh generation in NVBLOX? Any guidance or reproducible example would help.
Thanks in advance.
