ROS2 Navigation NOT working 2023.1.0

[rudresh.lonkar]

Hello,

I am using Ubuntu 22.04 with ROS2 Humble along with Isaac Sim 2023.1.0.
The ROS2 Navigation example provided in the Isaac Examples does not load completely for me.

I have Nucleus logged in and all the processes are running in localhost:3080.

Thanks!

[jaeyeun]

@rthaker
hello.
I am experiencing the same problem with the same setup. (Ubuntu 22.04, ROS2 Humble, Isaac Sim 2023.1.0)

it seems like it is unable to locate the USD reference located at the following path:

omniverse://isaac-dev.ov.nvidia.com/Isaac/Environments/Simple_Warehouse/warehouse_with_forklifts.usd

for your reference, I have attached the error/warning messages that pop up on terminal when I try to load the ROS Navigation example:

[11.002s] Isaac Sim App is loaded.
server omniverse://localhost: ConnectionStatus.CONNECTING
server omniverse://localhost: ConnectionStatus.CONNECTED
server omniverse://isaac-dev.ov.nvidia.com: ConnectionStatus.CONNECTING
server omniverse://isaac-dev.ov.nvidia.com: ConnectionStatus.CONNECT_ERROR
2023-10-26 06:26:45 [172,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/warehouse_extras>: Could not open asset @omniverse://isaac-dev.ov.nvidia.com/Isaac/Environments/Simple_Warehouse/Stage/warehouse_extras.usd@ for reference introduced by @omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd@</World/warehouse_extras>. (instantiating stage on stage @omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd@ <0x7f1c6c01bb30>)

2023-10-26 06:26:45 [172,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/warehouse_with_forklifts>: Could not open asset @omniverse://isaac-dev.ov.nvidia.com/Isaac/Environments/Simple_Warehouse/warehouse_with_forklifts.usd@ for reference introduced by @omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd@</World/warehouse_with_forklifts>. (instantiating stage on stage @omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd@ <0x7f1c6c01bb30>)

2023-10-26 06:26:45 [172,582ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/wheel_right/Cylinder_05 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/wheel_right/Cylinder_04 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/wheel_left/Cylinder_02 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/wheel_left/Cylinder is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/wheel_left/Cylinder_01 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/caster_wheel_right/Cylinder_06 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/wheel_right/Cylinder_03 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:45 [172,753ms] [Warning] [omni.physx.plugin] PhysicsUSD: Prim at path /World/Carter_v2_4_ROS/Carter_V24/caster_wheel_left/Cylinder_07 is using obsolete 'customGeometry' attribute. To toggle custom geometry for cylinders, use the physics settings option.
2023-10-26 06:26:50 [178,237ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/Carter_v2_4_ROS/Carter_V24/chassis_link/Carter_Sen_Pos_Ctrl_Doc/Robot_Volume.proto_Robot_Volume_id0 that has not been populated
2023-10-26 06:26:57 [184,819ms] [Warning] [carb] Client omni.ui has acquired [carb::svg::Svg v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2023-10-26 06:26:57 [184,820ms] [Warning] [carb] Client omni.ui has acquired [omni::kit::renderer::IRenderer v1.9] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2023-10-26 06:31:12 [440,000ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- In </World/warehouse_with_forklifts>: Could not open asset @omniverse://isaac-dev.ov.nvidia.com/Isaac/Environments/Simple_Warehouse/warehouse_with_forklifts.usd@ for reference introduced by @omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd@</World/warehouse_with_forklifts>. (computing expanded prim index for </World/warehouse_with_forklifts> on stage @omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd@ <0x7f1c6c01bb30>)

[Simplychenable]

is it related to the new setup in 2023.1.0?

Running the new Isaac Sim ROS/ROS2 Bridge (Isaac Sim 2023.1.0 Release onwards)

Dear Users, The workflow for running the ROS/ROS2 Bridge on Isaac Sim has changed in our latest release of Isaac Sim 2023.1.0! Isaac Sim is now able to use your system level or custom ROS/ROS2 installation! ROS/ROS2 Installed on the System If you have (or planning to have) a system level ROS/ROS2 installation, please follow the installation guide to ensure you have all of the required packages installed first. If you are using the ROS2 bridge, make sure the FASTRTPS_DEFAULT_PROFILES_FILE envi…

if not, feel free to ignore.

[Ayush_G]

Thanks for the question @jaeyeun. This USD file should now be fixed.

Please let me know if you still face any issues.