I’ve been diligently following the instructions provided in the “Static Reconstruction in Isaac Sim” tutorial, which you can find here
To provide some context, the initial steps of the nvblox tutorial, which include the Nvblox Quickstart and ensuring the stability of my native ROS setup, went smoothly without any issues.
However, upon executing the following command in the terminal to start the simulation:
3.Start the simulation by running the following command in the terminal:
./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_nvblox/nvblox_examples/nvblox_isaac_sim/>omniverse_scripts/start_isaac_sim.py --gpu_physics_enabled
Error:
2024-01-22 08:43:03 [7,047ms] [Warning] [foxy.rclpy] Could not import rclpy
gio: file:///%3Fserver=localhost&redirect=http:/localhost:50107/api/auth: Error when getting >information for file “/?server=localhost&redirect=http:/localhost:50107/api/auth”: No such >file or directory
2024-01-22 08:43:03 [7,232ms] [Warning] [omni.client.plugin] Tick: provider_nucleus: Failed >to launch browser (err=1024)!
Opening stage http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/>2023.1.1/Isaac/Samples/NvBlox/carter_warehouse_navigation.usd…
2024-01-22 08:43:08 [11,443ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 >of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp – In </World/Carter_ROS>: >Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/>Isaac/2023.1.1/Isaac/Robots/Carter/carter_v2.usd@ for reference introduced by @http://>omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Samples/>NvBlox/Robots/Carter_v2_ROS2.usd@. (instantiating stage on stage @http://omniverse->content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Samples/NvBlox/>carter_warehouse_navigation.usd@ <0x13b42280>)
2024-01-22 08:43:08 [11,443ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2890 >of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp – In </World/Carter_ROS>: >Could not open asset @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/>Isaac/2023.1.1/Isaac/Robots/Carter/carter_v2.usd@ for reference introduced by @http://>omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Samples/>NvBlox/Robots/Carter_v2_ROS2.usd@. (instantiating stage on stage @http://omniverse->content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Samples/NvBlox/>carter_warehouse_navigation.usd@ <0x13b42280>)
2024-01-22 08:43:08 [11,467ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of >ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: >omni.timeline.get_timeline_interface) instead.
2024-01-22 08:43:08 [11,637ms] [Warning] [omni.fabric.plugin] No source has valid data >array=0x23716520 usdValid=0 cpuValid=0
Loading stage…
Loading Complete
Running sim at 20 Hz, with dt of 0.05
2024-01-22 08:43:15 [19,037ms] [Warning] [carb] Client omni.physx.plugin has acquired >[omni::physics::schema::IUsdPhysics v1.1] 100 times. Consider accessing this interface with >carb::getCachedInterface() (Performance warning)
2024-01-22 08:43:15 [19,252ms] [Error] [omni.graph.core.plugin] /World/Carter_ROS/>ActionGraph/isaac_read_lidar_point_cloud_node: [/World/Carter_ROS/ActionGraph] Prim is not a >Lidar Prim
2024-01-22 08:43:15 [19,259ms] [Warning] [omni.isaac.dynamic_control.plugin] Failed to find >articulation at ‘/World/Carter_ROS/chassis_link’
2024-01-22 08:43:15 [19,259ms] [Error] [omni.isaac.dynamic_control.plugin] >DcGetArticulationRootBody: Invalid or expired articulation handle
2024-01-22 08:43:15 [19,260ms] [Warning] [omni.physx.tensors.plugin] Failed to find >articulation at ‘/World/Carter_ROS/chassis_link’
2024-01-22 08:43:15 [19,260ms] [Error] [omni.physx.tensors.plugin] Pattern ‘/World/>Carter_ROS/chassis_link’ did not match any articulations2024-01-22 08:43:16 [19,480ms] [Warning] [omni.graph.core.plugin] /World/Carter_ROS/>ActionGraph/articulation_controller: [/World/Carter_ROS/ActionGraph] OmniGraph Warning: >‘NoneType’ object has no attribute ‘is_homogeneous’
(from compute() at line 112 in /home/rosexpert1/.local/share/ov/pkg/>isaac_sim-2023.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/python/nodes/>OgnIsaacArticulationController.py)
2024-01-22 08:43:16 [19,484ms] [Error] [omni.graph.core.plugin] /World/Carter_ROS/>ActionGraph/isaac_compute_odometry_node: [/World/Carter_ROS/ActionGraph] prim is not a valid >rigid body or articulation root
terminate called without an active exception
Fatal Python error: AbortedThread 0x00007fdf291f8700 (most recent call first):
File “/home/rosexpert1/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/>concurrent/futures/thread.py”, line 81 in _worker
File “/home/rosexpert1/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/>threading.py”, line 953 in run
File “/home/rosexpert1/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/>threading.py”, line 1016 in _bootstrap_inner
File “/home/rosexpert1/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/python/lib/python3.10/>threading.py”, line 973 in _bootstrapCurrent thread 0x00007fe31ad85b80 (most recent call first):
File “/home/rosexpert1/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core/omni/>isaac/core/simulation_context/simulation_context.py”, line 701 in step
File “/home/rosexpert1/workspaces/isaac_ros-dev//src/isaac_ros_nvblox/nvblox_examples/>nvblox_isaac_sim/omniverse_scripts/start_isaac_sim.py”, line 270 in main
File “/home/rosexpert1/workspaces/isaac_ros-dev//src/isaac_ros_nvblox/nvblox_examples/>nvblox_isaac_sim/omniverse_scripts/start_isaac_sim.py”, line 371 inExtension modules: psutil._psutil_linux, psutil._psutil_posix, pydantic.errors, >pydantic.version, pydantic.class_validators, pydantic.color, pydantic.types, >pydantic.error_wrappers, pydantic.fields, pydantic.schema, pydantic.dataclasses, >pydantic.annotated_types, pydantic.tools, numpy.core._multiarray_umath, >numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, >numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, >numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, >numpy.random._sfc64, numpy.random._generator, omni.mdl.pymdlsdk._pymdlsdk, torch._C, >torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, >torch._C._special, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, >scipy.sparse._csparsetools, scipy.sparse.linalg._isolve._iterative, scipy.linalg._fblas, >scipy.linalg._flapack, scipy.linalg._cythonized_array_utils, scipy.linalg._flinalg, >scipy.linalg._solve_toeplitz, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_lapack, >scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, >scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, >scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, >scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, >scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, >scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, >scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, >scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, >scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, >scipy.spatial.transform._rotation, PIL._imaging, PIL._imagingft, numpy.linalg.lapack_lite, >scipy.ndimage._nd_image, _ni_label, scipy.ndimage._ni_label, osqp._osqp, >multidict._multidict, yarl._quoting_c, aiohttp._helpers, aiohttp._http_writer, >aiohttp._http_parser, aiohttp._websocket, cchardet._cchardet, _cffi_backend, >frozenlist._frozenlist, yaml._yaml, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, >scipy.io.matlab._mio5_utils (total: 90)
./python.sh: line 41: 90882 Aborted (core dumped) $python_exe “$@” $args
There was an error running python
Development Environment:
I’m working on a desktop, and both Isaac ROS Common and Isaac ROS Freespace Segmentation are updated to the latest release.
I’ve previously had a positive experience working with the ROS Freespace Segmentation Quickstart repository(Thanks for your guidance in another repository), which I’ve found quite enjoyable. Any help you can provide with this current issue would be immensely valued and appreciated.
I have a strong suspicion that this issue may be connected to the problem I mentioned in a >previous post about a week ago, which you can find here.
I understand that the previous topic was merged into a broader discussion, but if the current error is indeed linked to the one I reported earlier, is there any chance of resolving it? I’ve patiently waited for over a week now, but I haven’t received any response regarding my original post.