Ros2_nav extendsion doesn't toggle to enabled status at cloud omni sim server

any ideas?

Hi @_av

Have you first deactivated the ROS1 version (omni.isaac.ros_bridge) before try to enable omni.isaac.ros2_bridge?

As indicated in Enable ROS/ROS2 Bridge Extension, only one of the ROS Bridge extensions can be enabled at any given time.

1 Like

@toni.sm
Thank you for your reply.
After disabling ros1 bridge , ros2 bridge got toggled on.
However, now the issue is that
upon loading Isaac Examples->Navigation [pressing play] for navigation example it would show it can not open example file
cannot_open

cause_nucleus
seems the cause with examples is due to nucleous setup

it is a default cloud deployment

It seems to be…
The file system looks good

@toni.sm
any idea how to get isaac sim connected to the nucleous server?
IF click localhost it won’t result in nothing
IF specify ip address as in ‘new conenction’ in isaac sim - it asks to login from browser that I do [tried with both admin/omniverse usernames] but the isaac sim after the browser log in attempt shows error suggesting to reconenct;
then the same in a loop
thanks

What is your setup?
Are you using the latest Isaac Sim? Docker?

yes, it is the default cloud deployment setup
the only proposed in the instruction available for the currentr isaac sim release
so it is the default setup from https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_advanced.html#isaac-sim-setup-remote-headless-container
as in docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ -v ~/docker/isaac-sim/config:/root/.nvidia-omniverse/config:rw \ -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ -v ~/docker/isaac-sim/documents:/root/Documents:rw \ nvcr.io/nvidia/isaac-sim:2021.2.1
Then in the started container I would fire up the command as per the instruction:

Start Cache and Nucleus in the Isaac Sim container:

# To enable Nucleus sharing
$ cp /isaac-sim/installers/omniverse.toml ~/.nvidia-omniverse/config/omniverse.toml
# Install Cache
$ installers/cache/setup/cache-setup -i
# Install Nucleus
$ installers/nucleus/setup/nucleus-setup -i
# Run Omniverse System Monitor in the background. This will start the Cache, Nucleus and backend services.
$ installers/nucleus/System\ Monitor/omni-system-monitor &

Mmmm

And where is this server (http://54.203.204.124:8080/omniverse://54.203.204.124:3009/Isaac/) running, inside the container?

By the way, this server has old assets (2021.1.1)

@toni.sm

running, inside the container?

exactly
these are the steps from the instruction

https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_advanced.html#isaac-sim-setup-remote-headless-container

step 7 creates the server

By the way, this server has old assets (2021.1.1)

on this cloud instance there was previous isaac version before

if there are updated steps you may share
I also tried this

To set the default Nucleus server when running in Docker, use the flag -e “OMNI_SERVER=<ip_address>” 
`
from 

https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#isaac-sim-setup-set-omni-server

also tried modifying the file ```apps/omni.isaac.sim.base.kit

substituting the localhost value with the ip address value as in

[settings.isaac]
nucleus.default = "omniverse://localhost"

but it did not seem to impact isaac sim anyhow
it doesn’t seem to connect to nucleous server
As you can see I am just trying to follow the default instruction to run the navigation example
By the way will the navigation example load model of robot from ROS somehow? Otherwise how robot/ world needs to be imported to work with the navigation example with ROS2 nav2? Anyway first connection to the nucleous server seems require to be addressed somehow

So I should try uninstall the 'old nucleous server as in the excerpt below?

To uninstall Nucleus from Isaac Sim 2021.1.1 or earlier, follow these steps:

Uninstall old Nucleus:

$ systemctl stop omniverse-server
$ systemctl stop omniverse-asset-converter
$ systemctl stop omniverse-cache
$ systemctl stop omniverse-indexing
$ systemctl stop omniverse-snapshot
$ systemctl stop omniverse-thumbnail
$ systemctl stop omniverse-web
$ sudo rm -rf /var/lib/omniverse
$ sudo rm -rf /opt/nvidia/omniverse
$ sudo rm -rf /etc/systemd/systemomniverse-*
$ sudo rm /lib/systemd/systemomniverse-*
$ sudo systemctl reset-failed

from the new docker container?

so trying this

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y"  -e "OMNI_SERVER=54.203.204.124" --rm --network=host -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw -v ~/docker/isaac-sim/config:/root/.nvidia-omniverse/config:rw -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw -v ~/docker/isaac-sim/documents:/root/Documents:rw nvcr.io/nvidia/isaac-sim:2021.2.1

then steps above

I am able to run Isaac Sim with Nucleus on the container using the steps number 7 and 8 in 3. Advanced Installation — Omniverse Robotics documentation

on this cloud instance there was previous isaac version before

Maybe there are conflicts (ports) with this old nucleus server… Could you stop the old ones?

The ROS Navigation tutorial requires nucleus to load the warehouse scenario.

the other issac version was in a separate container so it shouldn’t overlap;
but I executed systemwide outside of container

root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-server
root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-asset-converter
root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-cache
root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-indexing
root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-snapshot
root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-thumbnail
root@ip-172-31-21-251:/home/ubuntu# systemctl stop omniverse-web
root@ip-172-31-21-251:/home/ubuntu# sudo rm -rf /var/lib/omniverse
root@ip-172-31-21-251:/home/ubuntu# sudo rm -rf /opt/nvidia/omniverse
root@ip-172-31-21-251:/home/ubuntu# sudo rm -rf /etc/systemd/systemomniverse-*
root@ip-172-31-21-251:/home/ubuntu# sudo rm /lib/systemd/systemomniverse-*
rm: cannot remove '/lib/systemd/systemomniverse-*': No such file or directory
root@ip-172-31-21-251:/home/ubuntu# sudo systemctl reset-failed

just to be on a safe side
then I run this

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y"   --rm --network=host -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw -v ~/docker/isaac-sim/config:/root/.nvidia-omniverse/config:rw -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw -v ~/docker/isaac-sim/documents:/root/Documents:rw nvcr.io/nvidia/isaac-sim:2021.2.1

then this

# To enable Nucleus sharing
$ cp /isaac-sim/installers/omniverse.toml ~/.nvidia-omniverse/config/omniverse.toml
# Install Cache
$ installers/cache/setup/cache-setup -i
# Install Nucleus
$ installers/nucleus/setup/nucleus-setup -i
# Run Omniverse System Monitor in the background. This will start the Cache, Nucleus and backend services.
$ installers/nucleus/System\ Monitor/omni-system-monitor &

right?
before the last sequence I will repeat the uninstall nucleous steps listed previously just to be on a safe side

Run Isaac Sim using step 7, without -e “OMNI_SERVER…” to check if it works

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
-v ~/docker/isaac-sim/config:/root/.nvidia-omniverse/config:rw \
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
-v ~/docker/isaac-sim/documents:/root/Documents:rw \
nvcr.io/nvidia/isaac-sim:2021.2.1

the output is as follows:

ubuntu@ip-172-31-21-251:~$ docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
> -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
> -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
> -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
> -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
> -v ~/docker/isaac-sim/config:/root/.nvidia-omniverse/config:rw \
> -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
> -v ~/docker/isaac-sim/documents:/root/Documents:rw \
> nvcr.io/nvidia/isaac-sim:2021.2.1
root@ip-172-31-21-251:/isaac-sim# 

then I execute these steps, right?

# To enable Nucleus sharing
$ cp /isaac-sim/installers/omniverse.toml ~/.nvidia-omniverse/config/omniverse.toml
# Install Cache
$ installers/cache/setup/cache-setup -i
# Install Nucleus
$ installers/nucleus/setup/nucleus-setup -i
# Run Omniverse System Monitor in the background. This will start the Cache, Nucleus and backend services.
$ installers/nucleus/System\ Monitor/omni-system-monitor &

then in the same terminal I start the headless kit remote, right?

right

@toni.sm
it updated the assets server
so the isaac sim conencts to it
but affter logging in I tried to run the navigation example
it resulted in
changed_output
then I switched OFF the ROS1
then switched ON ros2 bbridge then tried again
it resulted in the output below:

Well, can you open the folders inside Isaac directory? If it is the case, nucleus os working

For the navigation, The loading of the warehouse environment of the ROS navigation tutorial takes some time…


so it may display something after some 20 minutes? 40 minutes? hour? few hours?

2021-12-27 16:44:37 [69,032ms] [Warning] [gpu.foundation.plugin] Post processing operations requested for texture /tmp/carb.wIzCIZ/toolbar_stop.56x56.png, but no renderer was initialized. Skipping post-processing ops

@toni.sm

For the navigation, The loading of the warehouse environment of the ROS navigation tutorial takes some time

nothing appeared after 22 minutes
1hr passed
no outputs