Some errors when running ROS plugin -

Omniverse Isaac Sim
1

I start up Isaac Sim and it starts roscore, but when I start to add the robot and topics to the scene, i get the following errors:

2020-09-03 16:18:25 [5,802ms] [Warning] [carb.graphics-vulkan.plugin] getBufferGpuPointerVulkan used without device support
2020-09-03 16:18:28 [8,702ms] [Warning] [omni.kit.window.auth.plugin] Nucleus Cache is not running or reachable! Consider enabling Nucleus Cache to speed up data transfer.
2020-09-03 16:18:28 [8,703ms] [Error] [omni.tagging.plugin] Tagging Service Connection Error: 7
Acquired interface 'carb::physics::PhysX', version 0.2
2020-09-03 16:18:35 [15,875ms] [Warning] [omni.usd] Warning: in _AdapterLookup at line 312 of /buildAgent/work/da639afa0455b478/USD/pxr/usdImaging/lib/usdImaging/delegate.cpp -- Selected hydra renderer doesn't support prim type 'Camera'

2020-09-03 16:18:35 [15,891ms] [Warning] [omni.usd] Warning: in _ProcessFile at line 240 of /buildAgent/work/da639afa0455b478/USD/pxr/imaging/lib/hio/glslfx.cpp -- File doesn't exist: ""


2020-09-03 16:18:35 [15,891ms] [Warning] [omni.usd] Warning: in _ProcessFile at line 240 of /buildAgent/work/da639afa0455b478/USD/pxr/imaging/lib/hio/glslfx.cpp -- File doesn't exist: ""


2020-09-03 16:18:35 [15,894ms] [Warning] [omni.hydra] Cannot override mdl parameter useSpecularWorkflow. Type is mismatched
2020-09-03 16:18:37 [17,733ms] [Error] [omni.isaac.ros_bridge.plugin] RosBridgeSchemaRosJointState
2020-09-03 16:18:37 [17,733ms] [Error] [omni.isaac.ros_bridge.plugin] Ros Node  Was Created
2020-09-03 16:18:37 [17,741ms] [Warning] [omni.isaac.dynamic_control.plugin] Articulation is not in a physics scene, some functionality is missing
2020-09-03 16:18:37 [17,741ms] [Error] [omni.isaac.ros_bridge.plugin] Create: Prim /ROS_JointState with type: RosJointState
2020-09-03 16:18:42 [22,200ms] [Error] [omni.isaac.ros_bridge.plugin] RosBridgeSchemaRosCamera
2020-09-03 16:18:42 [22,201ms] [Error] [omni.isaac.ros_bridge.plugin] Create: Prim /ROS_Camera with type: RosCamera
2020-09-03 16:18:42 [22,203ms] [Warning] [carb.sensors.plugin] Uninitialized sensor passed in, no sensor data
2020-09-03 16:18:42 [22,209ms] [Warning] [carb.sensors.plugin] Uninitialized sensor passed in, no sensor data
2020-09-03 16:18:43 [23,780ms] [Error] [omni.isaac.ros_bridge.plugin] RosBridgeSchemaRosPoseTree
2020-09-03 16:18:43 [23,781ms] [Error] [omni.isaac.ros_bridge.plugin] Create: Prim /ROS_PoseTree with type: RosPoseTree
2020-09-03 16:18:45 [25,657ms] [Error] [omni.isaac.ros_bridge.plugin] Destroying Messenger
2020-09-03 16:18:45 [25,658ms] [Error] [omni.isaac.ros_bridge.plugin] Destroying Messenger
2020-09-03 16:18:45 [25,659ms] [Error] [omni.isaac.ros_bridge.plugin] Destroying Messenger
2

Hi,
Did this occur when running the samples or did you add your own robot? What happens when you type in rostopic list after each time you added a new topic?

3

running the samples.
rostopic list shows all the topics added with the ROS example in omnivese:
/camera_info
/depth
/joint_command
/joint_state
/rgb
/rosout
/rosout_agg
/tf

I can run the scripts and the arm moves, but whenever I click to add the topic, i get the error shown above.

4

okay, and can you echo those topics and get the corresponding data? It’s actually fairly common in this release for a bunch of errors to show up but not have any effect on the function. So if you can echo the topics and get the data, then I would ignore those error messages for now.

5

You’re right… I can echo the topics. I ran the publisher script on one machine and am echo’ing the topic in the other machine.
So, I will ignore.
THanks!!!