I have checked my robot root with articulation root (robot), angular drive (wheel_joint) etc. but I still get the following erros.
2022-06-28 07:34:54 [581,572ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetRigidBodyLocalLinearVelocity: Invalid or expired body handle
2022-06-28 07:34:54 [581,572ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetRigidBodyAngularVelocity: Invalid or expired body handle
Help/clarification please.
Thanks
Hi, can you supply the usd file with omnigraph embedded that’s giving you the error so we can look into it? thanks.
amr_ros2.usd (896.4 KB)
@qwan Sure can. Thank you for your help.
your file contains a reference asset that i don’t have access for. Can you collect your asset like described in this doc and send over the resulting folder please. thanks.
Also, how are you getting these errors? are you running a script of some sort? is it happening as soon as you load and start the simulation? Can you provide some details to repro the error message? thanks.
Please see the attached collected asset file as you requested.
Everything is in Isaac Sim GUI. I imported the AMR URDF file, made some minor changes to the MDL, collision, physics material for caster wheels. Copied Carter2_ROS2 OmniGraph and made the ‘appropriate’ changes. When I click on play, I get the errors (please see terminal image files). Even with the continuous errors in the terminal, I can run rviz2 and rqt and see everything I suppose to - except the odom, I can not move the odom - hence the errors.
Collected_amr_ros2.tar.xz (1.1 MB)
the culprit error is just above the slew of “Invalid handle” errors: “chassisPrim is not a valid articulation”. It means the path you indicated as chassis does not actually contain the articulation root of the robot. You need to find the link that actually has the articulation root api and use that prim path. You can check if the link has articulation root API by scrolling down the property panel.
@qwan
Thank you for taking time to look into the issue. One of many careless mistakes here, sorry about that.
Again, thank you for your help.
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