Turtlebot3 not moving following "Driving TurtleBot via ROS2 messages" tutorial

[Yen_Yan]

Isaac sim version: 4.2
Ubuntu version: 22.04
ROS2 humble

Following this tutorial, the turtlebot3 did not moving when I command :
“ros2 topic pub /cmd_vel geometry_msgs/Twist “{‘linear’: {‘x’: 0.2, ‘y’: 0.0, ‘z’: 0.0}, ‘angular’: {‘x’: 0.0, ‘y’: 0.0, ‘z’: 0.0}}””
the command terminal shows :

the isaac sim terminal shows:

No error shows on the action graph.

finding: the output of the Scale To/From Stage Unit Node are all zero

[zhengwang]

Hey @Yen_Yan. Could you please share your USD file? For scale to/from state unit node, did you connect the result to vector of break 3-vector?

[Yen_Yan]

Thanks for your help again, haha.
This is my action graph picture:

This is my USD file:
turtlebot3_test.zip (5.9 KB)

[zhengwang]

Thanks! You are missing two connections:

1. connect “exec out” of ROS2 subscriber twist to “exec in” of differential controller
2. connect “tick” of on playback tick to “exec in” of articulation controller

[Yen_Yan]

Thanks for your help, it moves! BTW, happy new year!