Python based Isaac Sim not sending or receiving ROS2 topics

[thejoeimb]

Isaac Sim Version

4.5.0

Operating System

Windows 11
Ubuntu 22.04

GPU Information

• Model: RTX 5000 Ada Gen

ROS2 and Python based Isaac Sim

Detailed Description

Just for some clarification I am using WSL2 to have an Ubuntu 22.04 terminal.

When I launch Isaac Sim using isaac-sim.selector.bat I am able to establish the connection between Isaac Sim and ROS2 just fine but when I launch a python based version of Isaac Sim there is no connection. And I did check to make sure that the ROS2 bridge is activated when I launch the python version. I am wondering if there is any fix to this.

[zhengwang]

Hi @thejoeimb, by “python based version of Isaac Sim”, do you mean you use python.sh to run a standalone Isaac Sim script?

[thejoeimb]

Yes. Sorry if my terminology was wrong. When I was going through the tutorials in the Isaac Sim documentation I realized that the standalone Isaac Sim script was not connecting to ROS2

[zhengwang]

@thejoeimb no worries. Did you export a ROS2 fastdds.xml file?

ROS 2 Installation — Isaac Sim Documentation

[thejoeimb]

Yes I belive. If I didn’t would that stop me from connecting to ROS2 when I am not in a standalone Isaac Sim script?

[zhengwang]

@thejoeimb Have you tried Isaac Sim 5.0 and see if the issue persists?

Also do you notice any warnings/errors when launching Isaac Sim with python.sh?

[thejoeimb]

I will try 5.0 to see. But isn’t the PIP install the only current way to download 5.0? If that is the case then I had issues with the 4.5 PIP install which would also not connect to ros2. When i would enter the following then run Isaac Sim i would get the error pictured.

set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
set PATH=%PATH%;C:/env_isaaclab/lib/site-packages/isaacsim/exts/isaacsim.ros2.bridge/humble/lib

[zhengwang]

You can also clone the repository and build it locally GitHub - isaac-sim/IsaacSim: NVIDIA Isaac Sim™ is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven robots in realistic virtual environments.

[thejoeimb]

I figured it out! (the original problem [still having issues with the PIP install]) I was having a blond moment and did not see the second step. It also took me a second to sorce into the linux folder from command prompt.