Turtlebot3 only repsonds to first message in ROS2 tutorial

When following the ROS2 Turtlebot3 tutorial here the turtlebot only moves for the first message after pressing play. The console produces the following errors however I don´t see the how they would cause only 1 message to be used.

2024-02-06 12:28:02 [2,664,129ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/geomutils/src/cooking/GuCookingConvexMesh.cpp, LINE 124
2024-02-06 12:28:02 [2,664,132ms] [Warning] [omni.physx.plugin] PhysX warning: Cooking::cookConvexMesh: GPU-compatible convex hull could not be built because of oblong shape. Will fall back to CPU collision, particles and deformables will not collide with this mesh!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/geomutils/src/cooking/GuCookingConvexMesh.cpp, LINE 124
2024-02-06 12:28:02 [2,664,144ms] [Warning] [omni.usd] Coding Error: in AddXformOp at line 208 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usdGeom/xformable.cpp -- XformOp </World/turtlebot3_burger/base_footprint.xformOp:scale> has typeName 'double3' which does not match the requested precision 'PrecisionFloat'. Proceeding to use existing typeName / precision.

2024-02-06 12:28:02 [2,664,145ms] [Warning] [omni.usd] Coding Error: in _SetValueImpl at line 6189 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/usd/stage.cpp -- Type mismatch for </World/turtlebot3_burger/base_footprint.xformOp:scale>: expected 'GfVec3d', got 'GfVec3f

Correction: It responds to every first message of a new direction (tested with the teleop node). That is the robot jerks in the corresponding direction change. Changing the velocity scale (ex. from 0.2 to 0.1) does not cause the robot to move but changing the sign of the velocity does. Similar behavior for the angular velocity.

Hi,

For better visibility, I am moving your topic to the Isaac Sim category.

Raffaello

1 Like

Modifying the articulation controller Ogn so that it spits out warning with the current velocity once compute is called yields only two warnings.
A text print in the actiongraph triggered by the twist command subscription is triggered as expected. I suspect the articulation Ogn gets stuck.

2024-02-06 18:53:03 [155,443ms] [Warning] [omni.graph.core.plugin] /World/ActionGraph/articulation_controller: [/World/ActionGraph] OmniGraph Warning: current vel: [0. 0.]
                   (from compute() at line 109 in /home/jc/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/python/nodes/OgnIsaacArticulationController.py)
2024-02-06 18:53:04 [156,309ms] [Error] [omni.graph.ui_nodes.ogn.nodes.OgnPrintText] New tiwst command
2024-02-06 18:53:04 [156,335ms] [Warning] [omni.graph.core.plugin] /World/ActionGraph/articulation_controller: [/World/ActionGraph] OmniGraph Warning: current vel: [204. 204.]
                   (from compute() at line 109 in /home/jc/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/python/nodes/OgnIsaacArticulationController.py)
2024-02-06 18:53:05 [157,295ms] [Error] [omni.graph.ui_nodes.ogn.nodes.OgnPrintText] New tiwst command
2024-02-06 18:53:06 [158,292ms] [Error] [omni.graph.ui_nodes.ogn.nodes.OgnPrintText] New tiwst command
2024-02-06 18:53:07 [159,305ms] [Error] [omni.graph.ui_nodes.ogn.nodes.OgnPrintText] New tiwst command

For some reason the articulation Ogn invokes its custom reset after two iterations.

@jenan19 Is your stiffness and damping values for your wheel joints correct? Could you send a picture of the Drive settings (found in the property panel) for each wheel joint?

You can also take a look at the sample turtlebot scene for comparing with your scene which you can find here: NVIDIA/Assets/Isaac/2023.1.1/Isaac/Samples/ROS2/Scenario/turtlebot_tutorial.usd

Both driving wheel joint have these properties.

Caster wheels:

I ended up not using Ogns due to various limitations and this bug. So I wont pursue a solution anytime soon.