Nvblox Voxel Map Freezes with FastDDS & No Data with CycloneDDS (Isaac Sim 5.1 + Isaac ROS 4.0)

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1

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Operating System

Ubuntu 24.04
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GPU Information

  • Model: NVIDIA RTX 6000 (Blackwell Architecture)
  • Driver Version: 580.95.05

Topic Description

Nvblox Voxel Map Freezes with FastDDS & No Data with CycloneDDS (Isaac Sim 5.1 + Isaac ROS 4.0)

Detailed Description

https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/tutorials/tutorial_isaac_sim.html#

I am following up on my previous OOM issue with Isaac ROS Nvblox. Setting the Host RMW to cyclonedds successfully resolved the OOM crash.

However, I am now facing new connectivity and stability issues depending on the RMW configuration in the Docker container:

  1. When using rmw_cyclonedds_cpp in Docker:
  • Even though the Host is set to CycloneDDS, I receive no data in RViz inside the container. The visualization is completely empty.
  1. When using rmw_fastrtps_cpp in Docker:
  • The voxel map appears initially, but it updates only for a brief moment and then freezes.
  • The map stops updating entirely after a few seconds.
  • Additionally, the Navigation feature in the example does not function correctly (the robot does not move or path planning fails).

I suspect there is a communication mismatch or a configuration issue causing data loss or freezing.

Steps to Reproduce

  1. Host Setup: Ubuntu 22.04, Isaac Sim 5.1.0, export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

  2. Docker Setup: Isaac ROS 4.0 (Jazzy), Ubuntu 24.04

  3. Scenario A (CycloneDDS in Docker):

  • export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp inside Docker.
  • Launch isaac_sim_example.launch.py.
  • Result: No data in RViz.
  1. Scenario B (FastDDS in Docker):
  • export RMW_IMPLEMENTATION=rmw_fastrtps_cpp inside Docker.
  • Launch isaac_sim_example.launch.py.
  • Result: Map updates briefly, then freezes. Navigation fails.

Error Messages

(If applicable, copy and paste any error messages you received)

Screenshots or Videos

cyclonedds

cyclonedds_cmd
cyclonedds_cmd1429×482 198 KB

cyclonedds
cyclonedds1920×1173 123 KB

fastrtps

fastdds
fastdds1920×1173 258 KB

Additional Information

What I’ve Tried

  1. Verified that switching Host to cyclonedds fixed the initial OOM crash.
  2. Tested both RMW implementations inside the Docker container.
  3. Attempted to enable Navigation (navigation:=True), but it fails to execute properly in the FastDDS scenario where the map freezes.

Related Issues

https://forums.developer.nvidia.com/t/oom-error-occurs-when-enabling-navigation-in-the-nvblox-isaac-sim-example-tutorial/359527
Previous OOM issue (Self-resolved by switching Host RMW)

Additional Context

  • Host: Ubuntu 22.04
  • Container: Ubuntu 24.04 (ROS 2 Jazzy)
  • CPU: AMD Ryzen 9 9950X 16-Core Processor
  • RAM: 128 GB
  • Hardware: NVIDIA RTX 6000 (Blackwell)
3

Hi @iruda.zip ! When you use FastDDS, did you follow the tutorial (multi machines or docker) to export FASTRTPS_DEFAULT_PROFILES_FILE?

5

Yes, I followed that tutorial.
It was not resolved at the time of posting, but it is currently performed normally until navigation task. (If FastDDS is used)

However, if camera=3, the voxel map still stops and is not possible with Cyclone DDS method.

Sorry for the late response, thank you for responding to my question!

6

Glad to hear the issue is resolved! I will close this topic.