ROS2 BRIDGE test always fail Isaac sim

Omniverse Isaac Sim
1

Hi I want to utilize ROS2 bridge.
But if loading ROS data, error msgs are detected as below.
And ROS2 bridge doesn’t work due to error.
Would you please advise me to resolve?

Blockquote
2022-12-07 06:32:06 [391,934ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Auth/Credentials search: Not connected
2022-12-07 06:32:06 [391,934ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Auth/Tokens search: Not connected
2022-12-07 06:32:06 [391,934ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost/omni/discovery): Error creating Api/Connection search: Not connected
2022-12-07 06:32:07 [393,309ms] [Warning] [carb.flatcache.plugin] UsdRelationship /World/Carter_ROS/ActionGraph/ros2_publish_transform_tree_01.inputs:targetPrims has multiple targets, which is not supported
2022-12-07 06:32:08 [393,407ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:jointNames’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-07 06:32:08 [393,407ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames
At:
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): setattr
/home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(219): initialize
2022-12-07 06:32:08 [393,409ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:angularVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-07 06:32:08 [393,409ms] [Error] [omni.graph] Tried to set a value on AttributeData ‘inputs:linearVelocity’ of type ‘token’ with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2022-12-07 06:32:08 [393,492ms] [Warning] [carb.flatcache.plugin] Error: array of rel not yet supported
2022-12-07 06:32:08 [393,492ms] [Error] [carb.flatcache.plugin] Error: /World/Carter_ROS/ActionGraph/make_array.__resolved_outputs:array UsdRelationship not supported in GetPrimArrayAttr
2022-12-07 06:32:10 [395,968ms] [Warning] [gpu.foundation.plugin] Requesting texture to use texture streaming, but the service isn’t available.The texture will be created as a regular resource.

That’s why checked ROS2 BRIDGE working in test 2022.1.1
As a result is

Blockquote
[carb.tasking.plugin] Leaking 25 carb::tasking::Counter instances!
[fail] Extension test failed.

ROS2_bridgetest.log (76.7 KB)

2

For my verification, launch script doesn’t load parameter file.
So Carter’s position is unknown.

Blockquote
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
Blockquote
def generate_launch_description():
use_sim_time = LaunchConfiguration(‘use_sim_time’, default=‘True’)
Blockquote
map_dir = LaunchConfiguration(
‘map’,
default=os.path.join(
get_package_share_directory(‘carter_navigation’), ‘maps’, ‘carter_warehouse_navigation.yaml’
),
)
param_dir = LaunchConfiguration(
‘params_file’,
default=os.path.join(
get_package_share_directory(‘carter_navigation’), ‘params’, ‘carter_navigation_params.yaml’
),
)

because loading parameter manually, Rviz warning and error become normal status.

in the VSCODE debug LaunchDescription is one cause…?

4

Plz refer to relsut below topic.

https://forums.developer.nvidia.com/t/no-tf-data-received-from-isaac-sim-ros2-connection/236001/7

5

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