ROS2 extension bridge startup failed

Omniverse Isaac Sim
1

While activating the omni.isaac.ros2_bridge bridge from the extensions GUI the Ros2 bridge fails to start.

This is the error message.

[351.536s] [ext: omni.isaac.ros2_bridge-2.3.9] startup
2023-12-28 11:57:40 [351,489ms] [Error] [omni.isaac.ros2_bridge.plugin] Could not load the dynamic library from libomni.isaac.ros2_bridge.foxy.so. Error: libvision_msgs__rosidl_typesupport_c.so: cannot open shared object file: No such file or directory
2023-12-28 11:57:40 [351,490ms] [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
[351.554s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/bikram/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/foxy/lib
Before starting Isaac Sim
2023-12-28 11:57:40 [351,490ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS2 Bridge startup failed
[351.555s] Attempting to load system rclpy
[351.556s] Could not import system rclpy: No module named 'rclpy._rclpy'
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-310-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[351.556s] Attempting to load internal rclpy
[351.556s] Could not import internal rclpy: No module named 'rclpy._rclpy'
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-310-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[351.556s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/bikram/.local/share/ov/pkg/isaac_sim-2023.1.0-hotfix.1/exts/omni.isaac.ros2_bridge/foxy/lib
Before starting Isaac Sim
2023-12-28 11:57:40 [351,494ms] [Warning] [foxy.rclpy] Could not import rclpy
[351.994s] [ext: omni.isaac.ros2_bridge-2.3.9] shutdown
2023-12-28 11:57:41 [352,528ms] [Warning] [omni.ext._impl._internal] omni.isaac.ros2_bridge-2.3.9 -> <class 'foxy.rclpy.Extension'>: extension object is still alive, something holds a reference on it. References: ["[0]:type: <class 'frame'>, id: 529928496", "[1]:type: <class 'frame'>, id: 140673818693184"]

I think it has to do something with the version clash of the rclpy binaries with Isaac Sim 2023.1.0 's python version.

Please can anyone help me out ?

2

Hi,

I am moving your topic to the Isaac SIM category for better visibility.

Raffaello

3

@tribikram i’ll defer the actual answer to the mods/devs. in the interim, have a look at the pinned thread regarding the setup:

secondly, i believe since 2023.1.0, it uses python 3.10 rather than 3.7 from earlier versions.

1 Like
4

hi @tribikram , as @Simplychenable correctly pointed out your system level rclpy is built off Python3.7 (I’m guessing you’re using ROS 2 Foxy)

For just using the bridge (ensuring that Isaac Sim and ROS 2 can interface with one another), please set the following environment variables before starting Isaac Sim from the same terminal:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

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

On running Isaac Sim from the same terminal now, the internal libraries will be used.

Hope this helps!

2 Likes
6

Thank you @Simplychenable, @rchadha.

1 Like
7

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