Isaac Sim Version
4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model:
- Driver Version: Nvidia RTX 4090
Topic Description
Detailed Description
I am following the official tutorial to publish transforms from isaac sim to ROS2. I added a ROS2 Publish Transform Tree node in the omnigraph and selected the targetPrims as : /World/turtlebot3_burger
According to the tutorial here: ROS2 Transform Trees and Odometry — Omniverse IsaacSim
It states that: “To get the transforms of each linkage on an articulated robot, add the robot’s articulation root to the targetPrims field. All the linkages subsequent to the articulation root will be published automatically. Add /World/turtlebot3_burger to the targetPrims field, and see that the transforms of all the links of the robot, fixed or articulated, will be published on the /tf topic.”
I should also get all the transforms of the links under the /turtlebot3_burger prim, but instead my tf tree just looks like this:
World → turtlebot3_burger
there are no other articulated transforms as described in the tutorial.
