ROS2 Publish Point Cloud not found in realease 2023.1.0

Omniverse Isaac Sim
1

First of all congrats for the new release of Isaac Sim 2023.1.0, i’m excited to try the new features!
My question is about the action graph nodes to publish sensor data to ROS2, this new version doesn’t have the publish nodes? How i should setup my simulation to publish lidar point clouds and camera images?

For exemple, the “RTX Lidar helper” node is not listed on this latest version of Isaac Sim.

I must enable some extension or plugin for that? It’s was native before.

2

Hi @martini_rosa,

Thanks for the question.

Could you verify whether the ROS2 bridge is enabled? I would suggest taking a look at the steps outlined below as our ROS Bridge workflow has changed in our latest version:

3

I checked the console error:

2023-10-26 21:46:41 [15,140ms] [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
[15.157s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.ros2_bridge/humble/lib
Before starting Isaac Sim
2023-10-26 21:46:41 [15,141ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS2 Bridge startup failed
[15.158s] Attempting to load system rclpy
[15.158s] Could not import system rclpy: No module named 'rclpy'
[15.158s] Attempting to load internal rclpy
[15.170s] Could not import internal rclpy: Failed to initialize init options: failed to get symbol 'rmw_init_options_init' due to Environment variable 'AMENT_PREFIX_PATH' is not set or empty, at /workspace/humble_ws/src/rmw_implementation/src/functions.cpp:171, at /workspace/humble_ws/src/rcl/rcl/src/rcl/init_options.c:75
[15.170s] To use the internal libraries included with the extension please set: 
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/user/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.ros2_bridge/humble/lib

i’m running ubuntu 22.04 with ros2 humble, the previous version of isaac sim runs just fine and loads the rclpy lib. I should set up some env var to run this latest one?

4

Hi @martini_rosa,

It seems like your ros install is not being sourced properly or you may have missing required packages. Please follow the installation guide for ROS2 Humble which will walk you through the required steps.

Thanks!