Ros2 bridge does not enable in isaac-sim 2023.1.0 - ubuntu 22.04 ros-humble

[the_walk]

I installed isaac-sim in ubuntu-22.04 and also installed ros2 humble. when i launch the isaac-sim from omniverse launcher after sourcing the ros workspace, the isaac sim opens, but when i enable the ros2 bridge it shows this error in the terminal…

[9.083s] RTX ready
[9.087s] Isaac Sim App is loaded.
2023-11-27 05:09:38 [11,216ms] [Warning] [carb] Client omni.ui has acquired [carb::svg::Svg v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2023-11-27 05:09:38 [11,216ms] [Warning] [carb] Client omni.ui has acquired [omni::kit::renderer::IRenderer v1.9] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
[12.317s] [ext: omni.kit.registry.nucleus-0.0.0] startup
[16.503s] [ext: omni.isaac.ros2_bridge-2.3.9] startup
2023-11-27 05:09:44 [16,493ms] [Warning] [omni.isaac.ros2_bridge.scripts.extension] ROS_DISTRO env var not found, Please source ROS2 Foxy, or Humble, before enabling this extension
[16.522s] Using backup internal ROS2 humble distro
2023-11-27 05:09:44 [16,496ms] [Warning] [omni.isaac.ros2_bridge.plugin] Could not load the dynamic library from librosidl_runtime_c.so. Error: librosidl_runtime_c.so: cannot open shared object file: No such file or directory
[16.525s] Loading librosidl_runtime_c.so from sourced ROS_DISTRO failed, falling back to internal libraries.
2023-11-27 05:09:44 [16,508ms] [Error] [omni.isaac.ros2_bridge.plugin] Could not load ROS2 Bridge due to missing library dependencies, please make sure your sourced ROS2 workspace has the correct packages/libraries installed
[16.537s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/pc/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/humble/lib
Before starting Isaac Sim
2023-11-27 05:09:44 [16,508ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS2 Bridge startup failed
[16.538s] Attempting to load system rclpy
[16.538s] Could not import system rclpy: No module named 'rclpy'
[16.538s] Attempting to load internal rclpy
[16.546s] Could not import internal rclpy: Failed to initialize init options: failed to get symbol 'rmw_init_options_init' due to Environment variable 'AMENT_PREFIX_PATH' is not set or empty, at /workspace/humble_ws/src/rmw_implementation/src/functions.cpp:171, at /workspace/humble_ws/src/rcl/rcl/src/rcl/init_options.c:75
[16.546s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/pc/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/humble/lib
Before starting Isaac Sim
2023-11-27 05:09:44 [16,518ms] [Warning] [humble.rclpy] Could not import rclpy
[16.673s] [ext: omni.isaac.ros2_bridge-2.3.9] shutdown
2023-11-27 05:09:44 [17,003ms] [Warning] [omni.ext._impl._internal] omni.isaac.ros2_bridge-2.3.9 -> <class 'humble.rclpy.Extension'>: extension object is still alive, something holds a reference on it. References: ["[0]:type: <class 'frame'>, id: 405139104", "[1]:type: <class 'frame'>, id: 140298522508352"]
2023-11-27 05:09:45 [17,325ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.

btw, i installed rclpy already…
i followed the nvidia official website to install
https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html

[Simplychenable]

@the_walk i am just another OV user. have you already looked at the directions from the mods/devs?

Running the new Isaac Sim ROS/ROS2 Bridge (Isaac Sim 2023.1.0 Release onwards)

Dear Users, The workflow for running the ROS/ROS2 Bridge on Isaac Sim has changed in our latest release of Isaac Sim 2023.1.0! Isaac Sim is now able to use your system level or custom ROS/ROS2 installation! ROS/ROS2 Installed on the System If you have (or planning to have) a system level ROS/ROS2 installation, please follow the installation guide to ensure you have all of the required packages installed first. If you are using the ROS2 bridge, make sure the FASTRTPS_DEFAULT_PROFILES_FILE envi…

[the_walk]

@Simplychenable I just looked at that after you said, even tho i have already installed ros2 in my system, the post said i have to make sure all the packages are installed, and FASTRTPS_DEFAULT_PROFILES_FILEenvironment variable has to set if i have to use the ros2 bridge…
since i have already ros2 in my system, i am not using isaac sim ros workspace…so as per the instruction under “Enabling ROS/ROS2 bridge” i have to create the fastdds.xml file…but where do i have to save this…the instruction saying that we have to put it in under ~/.ros/… i installed ros-humble using apt-get(binary)… there is no such named folder in my workspace…and is it mandatory to install docker also?

[the_walk]

I did not follow the instruction correctly so far, but after referring this link, the ros2 bridge is enabled after the i run the ./isaac-sim.sh that was shown after launching the isaac-sim in the omniverse launcher. Now the ros2 bridge is enabled.