ROS1 Subscribe Action Graph Node not subscribing to topic published

Omniverse Isaac Sim
,
1

https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros_turtlebot.html

I was trying to practice this tutorial and got stuck at a point where I created the omni-graph as instructed.

And then it appears that the ROS1 Subscribe Twist Node isn’t working. I got the roscore started and running and published velocity commands. And then, I also double-checked if it is getting published.

And the info about the node subscribing to the topic is attached.

omni_node
omni_node726×350 43.9 KB

And finally, the problem is that the turtlebot3 cannot be controlled by giving commands through a ROS topic.

Would appreciate any input! Many Thanks :)

2

The rqt_graph looks like this:

rqt2
rqt21102×121 10.5 KB

4

Hi,
Can you describe your ROS and Isaac Sim setup? Are they both running locally? Is one of them or both of them in a docker?

5

I got the same problem. I was following the tutorial… it worked once.

After I added a camera node, hit play and stop on the simulation, it stopped working. The bridge shows connected.

It’s exactly the tutorial config, ros noetic, nothing complicated. For sure a buggy bridge.

Node [/OmniIsaacRosBridge]
Publications:

  • /rgb [sensor_msgs/Image]
  • /rosout [rosgraph_msgs/Log]

Subscriptions:

  • /cmd_vel [geometry_msgs/Twist]

Services:

  • /OmniIsaacRosBridge/get_loggers
  • /OmniIsaacRosBridge/set_logger_level

contacting node http://flyer:36483/ …
ERROR: Communication with node[http://flyer:36483/] failed!

After restarting isaacsim, roscore, the whole shooting match… it worked again. Really hope that’s not gonna happen every time :)

6

I am stuck at the same problem. I cannot move Turtlebot3. If I do “rosnode info /OmniIssacRosBridge”, I get the same error msg as shown above. Did anyone figure out how to fix this problem ?