I might be missing something simple but for some reason when my robot_init marker is snapping to the top left of my map every time I try and move it. I am running the navigate app for the Kaya. I have “attach_interactive_marker” set to true in the PoseInitializer component in my goals_generator subgraph (I didn’t modify it). I think this is preventing the robot from knowing its position in the map and in turn not wanting to go to a goal. Could it possibly be the config of my map? I’ve loaded in the nvidia building maps and it doesn’t have this issue.
my map config:
{
"_config_bridge": {
"isaac.alice.ConfigBridge": {
"execution_queue_limit": 1
},
"isaac.alice.MessageLedger": {
"history": 10
}
},
"_interactive_markers_bridge": {
"InteractiveMarkersBridge": {
"execution_queue_limit": 1,
"tick_period": "50ms"
},
"isaac.alice.MessageLedger": {
"history": 10
}
},
"_pose_tree_bridge": {
"PoseTreeJsonBridge": {
"execution_queue_limit": 1,
"tick_period": "50ms"
},
"isaac.alice.MessageLedger": {
"history": 10
}
},
"_statistics": {
"NodeStatistics": {
"execution_queue_limit": 1,
"tick_period": "0.25s"
},
"isaac.alice.MessageLedger": {
"history": 10
}
},
"map": {
"isaac.map.Map": {
"config_file_name": "apps/assets/maps/office.config.json",
"execution_queue_limit": 1,
"graph_file_name": "apps/assets/maps/office.graph.json"
},
"localization_area": {
"color": [
255,
0,
0
],
"frame": "world",
"obstacle_max_distance": 1.5,
"obstacle_pixel_size": 0.1,
"obstacle_world_component": "obstacle_world/obstacle_world",
"polygons": null
},
"map": {
"global_localization_area_prefix": "localization_area",
"occupancy_grid_prefix": "occupancy",
"restricted_area_prefix": "restricted_area",
"waypoint_prefix": "waypoints"
},
"occupancy": {
"cell_size": 0.05,
"filename": "apps/assets/maps/office.png",
"threshold": 0.4
},
"restricted_area": {
"color": [
255,
0,
0
],
"frame": "world",
"obstacle_max_distance": 1.5,
"obstacle_pixel_size": 0.1,
"obstacle_world_component": "obstacle_world/obstacle_world",
"polygons": null
},
"waypoints": {
"tick_period": "1.0",
"vis_cell_size": 0.1,
"waypoints": {
"back-wall": {
"color": [
255.0,
128.0,
128.0
],
"pose": [
1.0,
0.0,
0.0,
0.0,
76.10000000000001,
29.0,
0.0
],
"radius": 1.0
},
"desk": {
"color": [
128.0,
128.0,
128.0
],
"pose": [
1.0,
0.0,
0.0,
0.0,
36.1,
49.6,
0.0
],
"radius": 1.0
}
}
}
},
"map_bridge": {
"isaac.map.MapBridge": {
"execution_queue_limit": 1
},
"message_ledger": {
"history": 10
}
},
"websight": {
"WebsightServer": {
"assetroot": "../isaac_assets",
"bandwidth": 10000000,
"execution_queue_limit": 1,
"port": 3000,
"ui_config": {
"windows": null
},
"use_compression": false,
"webroot": "packages/sight/webroot"
},
"isaac.alice.MessageLedger": {
"history": 10
},
"isaac.sight.AliceSight": {
"execution_queue_limit": 1
}
}
}