Hello,
I try to run NAV2 example based on below tutorial.
I can success to run NAV2 simulation with “AGV_ROS2_jz.usd” attached usd which I created.
But If I add “ur_gripper.usd” to this AGV model(“ARMAGV_ROS2_jz.usd”) by Robot Assembler, NAV2 behavior is not properly.
I also checked “ActionGraph:compute odometry” with ARMAGV_ROS2_jz.usd by teleop_keyboard.
It seems strange such as “position-x value”.
Question:
The odometery information generated by ActionGraph appears to be incorrect like above.
Are there any recommended way to create AGV + ARM（by Robot Assembler) ?
[Our Procedure]
git clone GitHub - isaac-sim/IsaacSim-ros_workspaces: Isaac Sim ROS Workspaces · GitHub
cd IsaacSim-ros_workspaces
git checkout IsaacSim-5.1.0
xhost +
docker run -it --rm --net=host --env=“DISPLAY” --env=“ROS_DOMAIN_ID” -e FASTDDS_BUILTIN_TRANSPORTS=UDPv4 -v $HOME:$HOME osrf/ros:jazzy-desktop /bin/bash
cd /home/xxx/IsaacSim-ros_workspaces/jazzy_ws
apt-get update
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
source /opt/ros/$ROS_DISTRO/setup.sh
sudo apt install ros-jazzy-nav2-bringup
colcon build --packages-select carter_navigation
source install/setup.bash
ros2 launch carter_navigation carter_navigation_agv.launch.py
//carter_navigation_agv.launch.py is also attached.
[Our Environment]
Isaac Sim Version:5.1.0-full(download&install below link)
Operating System:Ubuntu 24.04
GPU Information:RTX 6000 Ada
CUDA : 13.0
I would appreciate if you check the behavior & tell us how to solve this problem including “ActionGraph:compute odometry”.
I attached files belows; (some texture png removed to reduce file size. but behavior is same.)
Collected_ARMAGV_ROS2_jz.zip (56.0 MB)
carter_navigation_agv.launch.zip (1.5 KB)
P.S. I also checked proper ARM behavior & teleop_keybord behavior like below;
So, only “ActionGraph: compute odometry” function seems to be strange.
–
Best regards,