Hello Isaac Sim team,
I am facing a problem while running the ROS2 Navigation Sample as given here with several setups on my machine. I know these kind of setups are not exactly the same as the one given in the documentation but they are similar and I would still like to know what is the reason behind the problem I am facing.
I tried running Isaac Sim 2021.1.1 using a docker container as mentioned here and ran the ROS2 navigation launch file in a separate docker container with Foxy Fitzroy installed on it. The launch script showed me errors like this:
[controller_server-5] [ERROR] [1634639626.023357221] [local_costmap.local_costmap]: StaticLayer: “map” passed to lookupTransform argument target_frame does not exist.
[controller_server-5] Warning: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
[controller_server-5] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
Also, rviz shows this error: “Fixed Frame Frame [map] does not exist”
I then tried checking the rqt_graph to understand the problem further. An image is given below:
I think that Isaac Sim and ROS2 side is connected together after looking at this graph. I was also able to see messages being received on the “/scan” and “/odom” topics but not on the “/map” topic which further indicates that Isaac Sim and ROS2 side is connected together but somehow the “/map” topic does not get any message from the Isaac Sim side. What can be the reason behind Isaac Sim not being able to send messages to the “/map” topic?
I am also facing the exact same issue if I run Isaac Sim natively on my system but ROS2 launch file as before in a docker container. My system has Ubuntu 21.04 installed on it.
If the issue cannot be resolved, please tell me if I install Ubuntu 20.04.3 LTS on my system, will running Isaac Sim natively and ROS2 launch file natively work?