ROS2 bridge not loading

I have a standard ROS2 Humble on Ubuntu 22.04. I have read and followed all previous forums. I have set my fastrtps environment variable and sourced my setup.bash file and local install before launching Isaac Sim
2023-12-14 16:53:26 [10,225ms] [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
[10.299s] To use the internal libraries included with the extension please set:
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/kimate/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/humble/lib
Before starting Isaac Sim
2023-12-14 16:53:26 [10,225ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS2 Bridge startup failed
[10.300s] Attempting to load system rclpy
[10.300s] Could not import system rclpy: No module named ‘rclpy’
[10.301s] Attempting to load internal rclpy
[10.312s] Could not import internal rclpy: Failed to initialize init options: failed to get symbol ‘rmw_init_options_init’ due to Environment variable ‘AMENT_PREFIX_PATH’ is not set or empty, at /workspace/humble_ws/src/rmw_implementation/src/functions.cpp:171, at /workspace/humble_ws/src/rcl/rcl/src/rcl/init_options.c:75
[10.312s] To use the internal libraries included with the extension please set:
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/kimate/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/humble/lib
Before starting Isaac Sim
2023-12-14 16:53:26 [10,238ms] [Warning] [humble.rclpy] Could not import rclpy
[10.412s] Writing Isaac Sim icon file
[11.052s] [ext: omni.kit.window.stats-0.1.4] startup
[11.054s] [ext: omni.isaac.assets_check-0.3.2] startup
[11.056s] [ext: omni.isaac.sim.base-2023.1.0] startup
[11.057s] [ext: omni.isaac.sim-2023.1.0] startup
[11.093s] [ext: omni.isaac.ros2_bridge-2.3.9] shutdown
2023-12-14 16:53:27 [11,300ms] [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: 425154560”, “[1]:type: <class ‘frame’>, id: 140095142472912”]
2023-12-14 16:53:28 [11,903ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] duplicated action as SPACE (On Press) with omni.kit.widget.toolbar.omni.kit.widget.toolbar::toolbar::play!
2023-12-14 16:53:28 [11,904ms] [Warning] [omni.kit.hotkeys.core.registry] [Hotkey] Cannot register Global [omni.kit.widget.toolbar] omni.kit.widget.toolbar::toolbar::play.SPACE, error code: Duplicated action definition
2023-12-14 16:53:28 [11,964ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.

Hi @kimate21 , it seems that the bridge cannot find the libs needed for loading. On sourcing your ROS 2 env before running Isaac Sim, are you able to run ros commands as expected?

Also, just for a sanity check: Do not source your ROS 2 installation, run these 2 commands:

RMW_IMPLEMENTATION=rmw_fastrtps_cpp

LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/kimate/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/humble/lib

and then start Isaac Sim and try loading the bridge? (This should use the inbuilt ROS 2 libs for the bridge)

hello Rishabh, thanks for the quick reply and I believe you have my Amazon e-mail if you want to take this one off line. I did try just the included commands and not souring my local installation which yielded the same error. I will send you a video when time permits. My ROS2 Humble installation works well.

are any ROS related commands already present in your bashrc? also, ROS 2 Humble has been installed via apt-get packages with Python3.10 on Ubuntu 22, right?

No Ros related commands in my Bashrc file

Also Humble is installed via apt-get with Python 3.10 on Ubuntu 22

Hi @kimate21, did the issue get resolved? In the video I can see that the terminal which runs Isaac Sim is not the same as the terminal which is setting the env variables. That is probably the cause of your issues.

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Yes, everything is working with the new build and souring the local setup.bash with environment variables on startup

Thanks for the help

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I encountered the same problem. How did you solve it exactly? Can you please give instructions of steps taken? Thanks a lot.

Hi @kobehon , welcome to the Isaac Sim forum! Please ensure the environment variables are set in the same terminal from which Isaac Sim is run. This was the issue above. If you are running into another problem, I would suggest creating a new forum post for it.

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