ROS2 Carter does not work --Tutorial ROS2 chapter 5

[mikaneda]

Hi I build carter navigation by colcon build command.
But launched Rviz, Carter data from Isaac SIM is not reached to Rviz.
I saw some topic using ros2 command for moving joints.
In my first time learn Issac, no need to any special setting Carter navigation is working.
It’s very curious for me.

Would you please advise me to resolve this issue?

ros2 launch carter_navigation carter_navigation.launch.py


No data is sent from Isaac to Rviz Displays…

current ROS graph

Ubuntu 20.04 ROS2 foxy Package is Isaac sim 2022.1.0

         mage: carter_warehouse_navigation.png
           esolution: 0.05
            origin: [-11.975, -17.975, 0.0000]
               negate: 0
                 occupied_thresh: 0.65
                    free_thresh: 0.196

ros2_topiclist (1.1 KB)

----------------When starting Carter some errors are detected on the terminal.
I suspect them as root cause.

022-11-24 08:24:26 [167,045ms] [Error] [carb.flatcache.plugin] 
Error:   UsdRelationship 

/World/Carter_ROS/ActionGraph/ros2_publish_transform_tree_01.inputs:targetPr ims has multiple targets, which is not supported

   2022-11-24 08:24:26 [167,135ms] [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))
2022-11-24 08:24:26 [167,135ms] [Error] [omni.graph] AttributeError: Attempted to get array size of non-array attribute inputs:jointNames

  At:
  /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/attribute_values.py(202): get_array_size
   /home/kanengi/.local/share/ov/pkg/isaac_sim- 
 2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(110): jointNames
  /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/exts/omni.graph/omni/graph/core/_impl/database.py(529): __setattr__
   /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/OgnIsaacArticulationControllerDatabase.py(218): initialize

    2022-11-24 08:24:26 [167,136ms] [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))

  2022-11-24 08:24:26 [167,136ms] [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))

It is original setting??? but error msg is detected .

/World/Carter_ROS/ActionGraph/ros2_publish_transform_tree_01.inputs:targetPrims has multiple targets, which is not supported

[mikaneda]

2022-11-28 07:12:47 [2,157,011ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:47 [2,157,011ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:47 [2,157,012ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:47 [2,157,033ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:47 [2,157,034ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:47 [2,157,034ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:47 [2,157,215ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:47 [2,157,216ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:47 [2,157,216ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:49 [2,159,707ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:49 [2,159,707ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:49 [2,159,707ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:49 [2,159,764ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:49 [2,159,765ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:49 [2,159,765ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:49 [2,159,787ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:49 [2,159,787ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:49 [2,159,788ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:50 [2,159,958ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:50 [2,159,959ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:50 [2,159,959ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:51 [2,161,266ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:51 [2,161,266ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:51 [2,161,267ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:51 [2,161,286ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:51 [2,161,287ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:51 [2,161,287ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:51 [2,161,325ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:51 [2,161,325ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:51 [2,161,326ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:51 [2,161,384ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:51 [2,161,384ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:51 [2,161,385ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:51 [2,161,441ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:51 [2,161,441ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:51 [2,161,441ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link
2022-11-28 07:12:51 [2,161,461ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/rear_wheel_link
2022-11-28 07:12:51 [2,161,461ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/right_wheel_link
2022-11-28 07:12:51 [2,161,462ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/Carter_ROS/left_wheel_link

on the terminal all status input. but cost map is not found yet.

[mikaneda]

I executed this command

ros2 run tf2_tools view_frames.py

frames.pdf (5.8 KB)

in the pdf No tf data received…

[qwan]

are you receiving any ros2 topics outside sim at all? If not, see if this applies to you: ROS2 Foxy communication issues · Issue #3000 · eProsima/Fast-DDS · GitHub

[mikaneda]

Hi Qwan,

Thank you for your response.
If use original setting which is attached Isaacsim 2022.1.1, I cannot see any ros2 node.
But I found set up node manually, Carter show response.(In the Rviz carter model is moving. but in the Isaac screen one node shaking…

Carter wheel clearance is changed from original on the Rviz -- Tutorial 5_Navigation_ROS2

finally Carter is set correct location on the map. [Screenshot from 2022-11-29 15-19-00] In the Rviz2 screen tf data issue was resolved. But in the terminal many frame ID cannot receive. that’s why I need to check more. [Screenshot from 2022-11-29 15-20-50]

Ok, I’ll check your link.

And I’ll close this thread and continue above.