Hi,
I am trying to run the Cartographer SLAM application that takes in recorded message logs from IMU measurements and lidar readings, but I’m running it in Isaac Sim Omniverse.
I have set up a virtual environment in Isaac Sim Omniverse that I want to SLAM with the Carter_REB robot. Below is the configuration that I am using to record the data.
{
"name": "carter_record_sim",
"modules": [
"viewers",
"zed",
"sight"
],
"graph": {
"nodes": [
{
"name": "simulation",
"subgraph": "packages/navsim/apps/navsim_navigation.subgraph.json"
},
{
"name": "commander",
"subgraph": "packages/navigation/apps/differential_base_commander.subgraph.json"
},
{
"name": "record",
"subgraph": "packages/cask/apps/record.subgraph.json"
},
{
"name": "viewers",
"components": [
{
"name": "MessageLedger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "left_rgb",
"type": "isaac::viewers::ImageViewer"
},
{
"name": "right_rgb",
"type": "isaac::viewers::ImageViewer"
}
]
}
],
"edges": [
{
"source": "commander.subgraph/interface/command",
"target": "simulation.interface/input/base_command"
},
{
"source": "simulation.interface/output/color_left",
"target": "viewers/left_rgb/image"
},
{
"source": "simulation.interface/output/color_right",
"target": "viewers/right_rgb/image"
},
{
"source": "simulation.interface/output/base_state",
"target": "record.interface/input/segway_state"
},
{
"source": "simulation.interface/output/rangescan",
"target": "record.interface/input/fullscan"
},
{
"source": "simulation.interface/output/imu_raw",
"target": "record.interface/input/imu_raw"
},
{
"source": "simulation.interface/output/color_left",
"target": "record.interface/input/left_rgb_thumbnail"
},
{
"source": "simulation.interface/output/color_right",
"target": "record.interface/input/right_rgb_thumbnail"
}
]
},
"config": {
"websight": {
"WebsightServer": {
"port": 3000,
"ui_config": {
"windows": {
"Right Camera": {
"renderer": "2d",
"channels": [
{
"name": "carter_record_sim/viewers/right_rgb/image"
}
]
},
"Left Camera": {
"renderer": "2d",
"channels": [
{
"name": "carter_record_sim/viewers/left_rgb/image"
}
]
}
},
"assets": {}
}
}
},
"record.interface": {
"input": {
"start_recording_automatically": false,
"base_directory": "/tmp/isaac"
}
}
}
}
The issue I’m running into is after recording the data and feeding it into the log_cartographer application, I run into the following error where the imu_raw channel is not recognized:
...
2021-08-31 17:24:17.031 INFO packages/sight/WebsightServer.cpp@117: Server connected / 1
2021-08-31 17:24:24.016 INFO external/com_nvidia_isaac_engine/engine/alice/backend/allocator_backend.cpp@57: Optimized memory CPU allocator.
2021-08-31 17:24:24.016 INFO external/com_nvidia_isaac_engine/engine/alice/backend/allocator_backend.cpp@66: Optimized memory CUDA allocator.
2021-08-31 17:24:36.889 INFO packages/cask/gems/cask.cpp@69: Opening log '/tmp/isaac/be3d4fcc-0a9a-11ec-9653-f392e8f432cb/test000/kv' for reading
2021-08-31 17:24:36.889 DEBUG packages/cask/gems/utils.cpp@60: Available channel in cask: 'fullscan' (series: cf6ea0b6-0a9a-11ec-b278-d563e410d9ff)
2021-08-31 17:24:36.889 DEBUG packages/cask/gems/utils.cpp@60: Available channel in cask: 'right_rgb_thumbnail' (series: cf5f57c8-0a9a-11ec-b278-d563e410d9ff)
2021-08-31 17:24:36.889 DEBUG packages/cask/gems/utils.cpp@60: Available channel in cask: 'segway_state' (series: cf6be8bc-0a9a-11ec-b278-d563e410d9ff)
2021-08-31 17:24:36.889 DEBUG packages/cask/components/Replay.cpp@199: Available channel in cask: 'fullscan' (series: cf6ea0b6-0a9a-11ec-b278-d563e410d9ff)
2021-08-31 17:24:36.889 DEBUG packages/cask/components/Replay.cpp@199: Available channel in cask: 'right_rgb_thumbnail' (series: cf5f57c8-0a9a-11ec-b278-d563e410d9ff)
2021-08-31 17:24:36.889 DEBUG packages/cask/components/Replay.cpp@199: Available channel in cask: 'segway_state' (series: cf6be8bc-0a9a-11ec-b278-d563e410d9ff)
2021-08-31 17:24:36.890 DEBUG packages/cask/components/Replay.cpp@243: Replay 'fullscan': parsed 1416 message headers for time range [28639168268, 65719791423]
2021-08-31 17:24:36.890 PANIC packages/cask/components/Replay.cpp@206: Channel 'imu_raw' not found in log
====================================================================================================
| Isaac application terminated unexpectedly |
====================================================================================================
I have tried replacing the edge connection with the direct output from the isaac::imu::ImuSim component in the navsim_navigate_subgraph, however neither case outputs anything to the desired imu_raw channel:
"edges": [
...
{
"source": "simulation.interface/output/imu_raw",
"target": "record.interface/input/imu_raw"
}
...
with
"edges": [
...
{
"source": "simulation.imu/imusim/imu_raw",
"target": "record.interface/input/imu_raw"
}
...
Also I tried to run this recording configuration on the carter_warehouse_with_forklifts.usd scenario just to make sure that the Carter_REB was configured correctly in the simulation, and even in that case the imu_raw data channel would not be published nor recorded.
It’s clear from the error log that the rangescan/lidar data in the Isaac Sim is properly being recorded but for some reason the imu_raw channel from the ImuSim component isn’t. Does anyone know what I might be missing here?
Thanks in advance!