ROS2_bridge-humble migration

Hello,

Is there anyway to migrate from ros2_bridge to ros2_bridge-humble? There are many warnings and it doesn’t work:


2023-01-08 15:48:20 [17,391ms] [Warning] [omni.graph.core.plugin] Could not find node type interface for 'omni.isaac.isaac_sensor.IsaacReadIMU'
2023-01-08 15:48:20 [17,528ms] [Warning] [omni.isaac.sensor.scripts.extension] Updating node type from omni.isaac.isaac_sensor to omni.isaac.sensor for /nakai_container/SensorsGraph/isaac_read_imu_node. Please save and reload the asset, The omni.isaac.isaac_sensor extension was renamed to omni.isaac.sensor 
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishRawTransformTree.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishRawTransformTree
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishJointState.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishJointState
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishClock.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishClock
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishCameraInfo.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishCameraInfo
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2Context.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2Context
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishPointCloud.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishPointCloud
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2SubscribeTwist.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2SubscribeTwist
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2SubscribeJointState.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2SubscribeJointState
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishImu.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishImu
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishTransformTree.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishTransformTree
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishBbox2D.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishBbox2D
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishBbox3D.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishBbox3D
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishSemanticLabels.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishSemanticLabels
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2CameraHelper.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2CameraHelper
2023-01-08 15:49:02 [59,395ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2RtxLidarHelper.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2RtxLidarHelper
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishRawTransformTree.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishRawTransformTree
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishJointState.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishJointState
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishClock.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishClock
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishCameraInfo.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishCameraInfo
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2Context.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2Context
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishPointCloud.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishPointCloud
2023-01-08 15:49:02 [59,409ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2SubscribeTwist.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2SubscribeTwist
2023-01-08 15:49:02 [59,411ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2SubscribeJointState.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2SubscribeJointState
2023-01-08 15:49:02 [59,411ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishImu.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishImu
2023-01-08 15:49:02 [59,412ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishTransformTree.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishTransformTree
2023-01-08 15:49:02 [59,413ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishBbox2D.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishBbox2D
2023-01-08 15:49:02 [59,413ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishBbox3D.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishBbox3D
2023-01-08 15:49:02 [59,413ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2PublishSemanticLabels.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2PublishSemanticLabels
2023-01-08 15:49:02 [59,415ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2CameraHelper.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2CameraHelper
2023-01-08 15:49:02 [59,416ms] [Warning] [omni.graph.window.core.graph_config] icon path /home/amram/.local/share/ov/pkg/isaac_sim-2022.2.0/exts/omni.isaac.ros2_bridge-humble/temp/omni.isaac.ros2_bridge.ROS2RtxLidarHelper.svg not found for OmniGraph node type omni.isaac.ros2_bridge.ROS2RtxLidarHelper

Hello, the humble bridge is beta support right now. Can you provide more information about what you are trying to do or steps for reproducing the issue?

Just trying to open an existing USD with OmniGraph nodes created from ROS2_bridge (not humble)

Hi @omers There have been fixes to the ros2 and humble bridge in the latest 2022.2.1 release. Can you please try with the latest release and provide a repro if the problem persists?

Thanks!

Hi @omers - Please let us know if you still seeing this issue or not.

@rthaker Seems to be even worse:

  1. Failing to load the stage URL:
2023-04-02 09:58:57 [3,221,529ms] [Error] [omni.kit.window.file.scripts.file_window] Invalid stage URL: /home/amram/development/nakai/packages/nakai-onboard/src/nakai_robot/meshes/test.usd
  1. Can’t turn on ROS2 Bridge Humble from the GUI, because of a long standing bug that ROS1 Bridge is always on even when autoload is not checked:
[Error] [omni.isaac.ros2_bridge.scripts.extension] Failed to acquire interface: omni::isaac::ros2_bridge::Ros2BridgeHumble (pluginName: nullptr)
2023-04-02 10:01:03 [28,509ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] Cannot load ROS2 humble bridge after loading ROS2 bridge, please restart Isaac Sim and only enable/use one of the ROS2 bridges

Even after manually changing the configuration to:

Still getting this error:

2023-04-02 10:12:59 [5,251ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS2 bridge extension cannot be enabled if omni.isaac.ros_bridge is enabled

Bottom line, I can’t even test to see if it has been fixed, since I can’t turn on the extension.

Hi @omers are you able to load the stage via the GUI? The error which you have pasted arises when you run your script to load a stage?

Also, are you accessing Isaac Sim headlessly via Python scripts, or via the GUI? With the latest release you can specify which ROS bridge you want to load on startup.

The best way to help resolve the issue would be to provide a repro for your steps.

Thanks!

Yes when I try to load the stage, using the GUI.

  1. Open the Isaac Sim GUI
  2. Open a stage file that was created with a previous version of Isaac Sim

Hi @omers - Are you still having issues? If yes, then please provide repro as requested in earlier message.