Problem : ROS2 Navigation Sample with Isaac-sim-5.0-full

[mat-h]

Hello,

I try to run “ROS2 Navigation” based on below link guide.
https://docs.isaacsim.omniverse.nvidia.com/5.0.0/ros2_tutorials/tutorial_ros2_navigation.html

But Lidar sensing data seems to be strange like below.

I would appreciate if you check the behavior with Isaac-sim-5.0-full and tell us how to solve this problem.

[Step to Reproduce]
0:Craete IssacRos workspace based no below guide;
https://nvidia-isaac-ros.github.io/getting_started/dev_env_setup.html
mkdir -p ~/workspaces/isaac_ros-dev/src
echo “export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/” >> ~/.bashrc
source ~/.bashrc

1:Load sample scene:
Go to Window > Examples > Robotics Examples, and then click on the Robotics Examples tab and expand the sections on the left hand side and open the example: ROS2 > Navigation > Nova Carter to load the warehouse scenario with the Nova Carter robot.
->Click on Play to begin simulation.

2: Build sample & Run
git clone https://github.com/isaac-sim/IsaacSim-ros_workspaces
cd ~/IsaacSim-ros_workspaces
git checkout IsaacSim-5.0.0-full
cp -r ~/IsaacSim-ros_workspaces/humble_ws/src/navigation ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src &&
git clone -b release-3.2 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && ./scripts/run_dev.sh
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=humble -y
source /opt/ros/humble/setup.sh
colcon build
source install/setup.bash
ros2 launch carter_navigation carter_navigation.launch.py

[Our Environment]
Isaac Sim Version:5.0.0-full(download&install below link)
https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html

Operating System:Ubuntu 22.04
GPU Information:NVIDIA RTX PRO 6000 Blackwell
CUDA : 12.8

P.S. This is same post as below;

Problem : ROS2 Navigation Sample with Isaac-sim-5.0-full

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Best regards,

[zhengwang]

@mat-h I tried it and don’t observe the strange lidar sensing as shown in your screenshot.
Based on your screenshot, I suspect that the robot is mislocalized, you can use Rviz “2D Pose Estimate” to relocalize the robot.

You can also try to enable “Show Debug View” in the ROS2Rtx Lidar Helper Node and see what is going on.

[mat-h]

Hi,

Thank you very much for your kindness.

I really appreciate your help.

We continue to check the behavior from your Guide.

But we’ve still found strange behavior like below.

• We can add “debug view” from your guide.

• We need to change “Rotate-x=90” of PandaXT_32_10hz for proper debug view.

• We found strange Lidar sensing view in Rviz2.

I understood you found proper behavior based on below.

Isaac Sim Version:5.0.0-full(download&install below link)

https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html

I’d appreciate if you tell us any clue for this problem.

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Best regards,

[zhengwang]

We need to change “Rotate-x=90” of PandaXT_32_10hz for proper debug view.

I didn’t need to do this. For enable debug view, did you stop the simulation, enable debug view and then restart the simulation?

Also have you tried to download the source code of Isaac Sim from github and then build it from scratch (I don’t think it would be different from the download link but worth a shot).

[mat-h]

Hello,

Thank you very much for your kindness.

I really appreciate your help.

I also check the behavior to download the source code of Isaac Sim from github and then build it from scratch based on your guide.

But I found same issue.

Question:

Are there any difference our procedure of my previous post from yours?

Best regards,

[zhengwang]

I followed the steps exactly from the tutorial ROS2 Navigation — Isaac Sim Documentation

The difference between yours and mine is that I didn’t run the carter_navigation in a docker container. I didn’t use isaac_ros_common. I just downloaded the IsaacSim-ros_workspaces. I have ROS2 humble installed locally. So I just build the package and source and launch it.

TBH, it is unclear to be why would Isaac ROS docker container would make a difference. But perhaps you can give it a try.

[mat-h]

Hello,

Thank you very much for your kindness.

I really appreciate your help.

I’d like to check the behavior with your feedback.

Best regards,

[mat-h]

Hello,

Unfortunately, I found same issue with ”ROS2 humble installed locally” from your guide.

It seems to be problem in Isaas-sim-5.0.

Best regards,

[infox22oo]

I’m just another user.

I tried it, with Isaac Sim 5.0.0 full (local installation) on Ubuntu 24.04, with ROS2 humble from Docker but without Isaac ROS, and did find anything unusual. Both at the original location and when I had the robot navigate closer to the forklift. If I have a chance I’ll try with Isaac ROS too.

[mat-h]

Hello,

Thank you very much for your kindness.

I really appreciate your help.

I’d like to also check the behavior on Ubuntu24.04.

Best regards,

[zhengwang]

@mat-h The stable version of 5.1.0 has been released. Could you please check if your issue exists with the latest version? Thanks!

[mat-h]

Hello,

Thank you very much for your kindness.

I really appreciate your help.

I found proper behavior with IsaacSim5.1.0.

Thank you!

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