Dear Sir or Madam
I have tried to run Isaac Perceptor on Isaac Sim based on the tutorial below.
https://nvidia-isaac-ros.github.io/reference_workflows/isaac_perceptor/run_perceptor_in_sim.html
I was able to follow through the tutorial up to the point where i need to launch rviz2 using the command below,
ros2 launch nova_carter_bringup navigation.launch.py
mode:=simulation run_rviz:=True
while running the command itself is no problem, i don’t see any kind of visualization on the rviz windows, clicking the 2D Goal Pose button also doesn’t move the robot in isaac sim
checking the rviz terminal there is an error being repeated over an over
[component_container_isolated-7] [INFO] [1740127140.388775645] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom_vslam to become available, tf error: Could not find a connection between ‘odom_vslam’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees.
i’m new to isaac sim and ros in general so i don’t really understand what’s wrong with it. here is some debugging that i did following others post that i found after browsing.
ros2 run tf2_tools view_frames
frames_2025-02-21_15.47.33.pdf (25.0 KB)
ros2 node list
/behavior_server
/bt_navigator
/bt_navigator_navigate_through_poses_rclcpp_node
/bt_navigator_navigate_to_pose_rclcpp_node
/controller_server
/foxglove_bridge
/foxglove_bridge_component_manager
/global_costmap/global_costmap
/joint_state_publisher
/launch_ros_2077
/lifecycle_manager_navigation
/local_costmap/local_costmap
/my_stat_tf_pub
/navigation_container
/nova_container
/planner_server
/robot_state_publisher
/rviz
/smoother_server
/transform_listener_impl_5991629d5f40
/transform_listener_impl_701e50001e70
/transform_listener_impl_701e58001e70
/transform_listener_impl_701e64001e70
/transform_listener_impl_701e68001e90
/transform_listener_impl_701e680d81c0
/transform_listener_impl_701e680f1ac0
/velocity_smoother
/waypoint_follower
ros2 topic list
/back_stereo_imu/imu
/behavior_server/transition_event
/bt_navigator/transition_event
/chassis/imu
/chassis/odom
/clicked_point
/clock
/cmd_vel
/cmd_vel_nav
/cmd_vel_teleop
/controller_server/transition_event
/diagnostics
/front_stereo_camera/depth
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/image_raw
/front_stereo_camera/left/image_raw/nitros_bridge
/front_stereo_camera/right/camera_info
/front_stereo_camera/right/image_raw
/front_stereo_camera/right/image_raw/nitros_bridge
/front_stereo_imu/imu
/global_costmap/costmap
/global_costmap/costmap_raw
/global_costmap/costmap_updates
/global_costmap/footprint
/global_costmap/global_costmap/transition_event
/global_costmap/published_footprint
/goal_pose
/initialpose
/joint_states
/left_stereo_imu/imu
/local_costmap/costmap
/local_costmap/costmap_raw
/local_costmap/costmap_updates
/local_costmap/footprint
/local_costmap/local_costmap/transition_event
/local_costmap/published_footprint
/map
/map_updates
/nvblox_node/color_layer
/nvblox_node/combined_esdf_pointcloud
/nvblox_node/dynamic_occupancy_layer
/nvblox_node/pessimistic_static_map_slice
/nvblox_node/static_map_slice
/parameter_events
/plan
/plan_smoothed
/planner_server/transition_event
/preempt_teleop
/right_stereo_imu/imu
/robot_description
/rosout
/smoother_server/transition_event
/speed_limit
/tf
/tf_static
/trajectories
/transformed_global_plan
/unsmoothed_plan
/velocity_smoother/transition_event
/visual_slam/tracking/odometry
/waypoint_follower/transition_event
ros2 topic echo /tf which has data published
while ros2 topic echo /visual_slam/tracking/odometry that doesn’t output anything
my system:
Ubuntu 22.04.5 LTS
Nvidia driver version: 570.86.15
Cuda version: 12.8
