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: NVIDIA RTX 3500 Ada Generation
- Driver Version: Version: Version: 565.57.01
Topic Description
Detailed Description
Hello, I am trying to set everything up for a Python simulation. This means launching the environment, the robot, etc. I previously gave details of what I’m trying to do (check related issues).
When I run my code, the simulation environment opens but then crashes because of an issue with omni. Isaac.ros2_bridge, as you can see in Error Messages.
I am working within a conda environment.
Error Messages
[INFO] [1737040676.962118703] [locobot_node]: Initializing Isaac Sim...
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args: ['/home/ubuntu/anaconda3/envs/env_isaacsim/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/ubuntu/.local/share/ov/pkg/isaac-sim-4.2.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/ubuntu/.local/share/ov/pkg/isaac-sim-4.2.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1024', '--/app/renderer/resolution/height=768', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/ubuntu/.local/share/ov/pkg/isaac-sim-4.2.0/exts', '--ext-folder', '/home/ubuntu/.local/share/ov/pkg/isaac-sim-4.2.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/ubuntu/.local/share/ov/pkg/isaac-sim-4.2.0/kit/logs/Kit/Isaac-Sim/4.2/kit_20250116_161757.log
2025-01-16 15:17:57 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.114s] [ext: omni.blobkey-1.1.2] startup
[0.114s] [ext: omni.kit.async_engine-0.0.1] startup
[0.395s] [ext: omni.stats-1.0.1] startup
[0.396s] [ext: omni.datastore-0.0.0] startup
[0.400s] [ext: omni.client-1.2.0] startup
[0.424s] [ext: omni.ujitso.default-1.0.0] startup
[0.425s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.427s] [ext: omni.hsscclient-1.1.1] startup
[0.427s] [ext: omni.assets.plugins-0.0.0] startup
[0.429s] [ext: omni.gpu_foundation-0.0.0] startup
[0.436s] [ext: carb.windowing.plugins-1.0.0] startup
[0.442s] [ext: omni.kit.renderer.init-0.0.0] startup
2025-01-16 15:17:59 [2,532ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)
2025-01-16 15:17:59 [2,533ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)
|---------------------------------------------------------------------------------------------|
| Driver Version: 565.57.01 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA RTX 3500 Ada Generation.. | Yes: 0 | | 12282 MB | 10de | 0 |
| | | | | | 27bb | 43620150.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | Intel(R) Graphics (RPL-S) | | | 23831 MB | 8086 | 0 |
| | | | | | a788 | 868088a7.. |
| | | | | | 0 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-51-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 13th Gen Intel(R) Core(TM) i9-13950HX | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31774 | Free Memory: 19297
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
[3.089s] [ext: omni.kit.pipapi-0.0.0] startup
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[3.935s] [ext: omni.kit.widget.path_field-2.0.10] startup
[3.936s] [ext: omni.ui.scene-1.10.3] startup
[3.940s] [ext: omni.kit.widget.search_delegate-1.0.5] startup
[3.941s] [ext: omni.kit.widget.options_button-1.0.3] startup
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[3.942s] [ext: omni.volume-0.5.0] startup
[3.946s] [ext: omni.kit.window.filepicker-2.10.40] startup
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2025-01-16 15:18:02 [5,752ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:
CUDA Toolkit 11.8, Driver 12.7
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA RTX 3500 Ada Generation Laptop GPU" (12 GiB, sm_89, mempool enabled)
Kernel cache:
/home/ubuntu/.cache/warp/1.2.1
[5.926s] [ext: omni.isaac.lula-3.0.1] startup
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[6.728s] [ext: omni.kit.viewport.manipulator.transform-107.0.2] startup
[6.732s] [ext: omni.physx.demos-106.1.9] startup
[6.750s] [ext: omni.kit.property.physx-106.1.9] startup
[6.832s] [ext: omni.kit.widget.calendar-1.0.8] startup
[6.835s] [ext: omni.kit.manipulator.prim.core-107.0.4] startup
[6.841s] [ext: omni.fabric.commands-1.1.5] startup
[6.844s] [ext: omni.physx.vehicle-106.1.9] startup
[6.862s] [ext: omni.kit.widget.extended_searchfield-1.0.28] startup
[6.872s] [ext: omni.kit.manipulator.prim.fabric-107.0.3] startup
[6.875s] [ext: omni.kit.manipulator.prim.usd-107.0.2] startup
[6.877s] [ext: omni.kit.widget.timeline-105.0.1] startup
[6.880s] [ext: omni.kit.window.commands-0.2.6] startup
[6.883s] [ext: omni.physx.camera-106.1.9] startup
[6.895s] [ext: omni.kit.manipulator.camera-105.0.5] startup
[6.901s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[6.907s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[6.908s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[6.910s] [ext: omni.kit.window.toolbar-1.6.1] startup
[6.914s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[6.916s] [ext: omni.kit.viewport.menubar.render-106.1.1] startup
[6.919s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[6.924s] [ext: omni.physx.cct-106.1.9] startup
[6.938s] [ext: omni.physx.graph-106.1.9] startup
[6.961s] [ext: omni.physx.supportui-106.1.9] startup
[6.994s] [ext: omni.physx.telemetry-106.1.9] startup
[7.001s] [ext: omni.graph.ui_nodes-1.26.0] startup
[7.013s] [ext: omni.kit.viewport.bundle-104.0.1] startup
[7.013s] [ext: omni.isaac.universal_robots-0.3.5] startup
[7.016s] [ext: omni.kit.window.console-0.2.13] startup
[7.036s] [ext: omni.kit.window.script_editor-1.7.6] startup
[7.041s] [ext: omni.kit.menu.create-1.0.16] startup
[7.045s] [ext: omni.graph.bundle.action-2.4.1] startup
[7.047s] [ext: omni.physx.bundle-106.1.9] startup
[7.048s] [ext: omni.rtx.window.settings-0.6.17] startup
[7.058s] [ext: omni.kit.window.status_bar-0.1.7] startup
[7.071s] [ext: omni.kit.window.title-1.1.5] startup
[7.073s] [ext: omni.replicator.isaac-1.15.2] startup
[7.116s] [ext: omni.replicator.replicator_yaml-2.0.6] startup
[7.164s] [ext: omni.rtx.settings.core-0.6.3] startup
[7.174s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[7.183s] [ext: semantics.schema.editor-0.3.8] startup
[7.203s] [ext: semantics.schema.property-1.0.4] startup
[7.216s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[7.217s] [ext: omni.isaac.utils-1.0.1] startup
[7.225s] [ext: omni.isaac.cloner-0.8.1] startup
[7.235s] [ext: omni.importer.urdf-1.14.1] startup
[7.285s] [ext: omni.kit.window.stats-0.1.6] startup
[7.291s] [ext: omni.isaac.sim.python-4.2.0] startup
[7.293s] Simulation App Starting
[9.397s] app ready
[10.486s] Simulation App Startup Complete
[INFO] [1737040688.477786897] [locobot_node]: Isaac Sim initialized successfully
[INFO] [1737040690.481551912] [locobot_node]: Setting up ROS 2 bridge...
[ERROR] [1737040690.602455836] [locobot_node]: Error setting up ROS 2 bridge: module 'omni.isaac.ros2_bridge' has no attribute 'IsaacROS2Bridge'
[WARN] [1737040690.602782946] [locobot_node]: Attempt 1 failed, retrying...
[ERROR] [1737040691.604409955] [locobot_node]: Error setting up ROS 2 bridge: module 'omni.isaac.ros2_bridge' has no attribute 'IsaacROS2Bridge'
[WARN] [1737040691.605231441] [locobot_node]: Attempt 2 failed, retrying...
[ERROR] [1737040692.606542354] [locobot_node]: Error setting up ROS 2 bridge: module 'omni.isaac.ros2_bridge' has no attribute 'IsaacROS2Bridge'
[WARN] [1737040692.607461460] [locobot_node]: Attempt 3 failed, retrying...
[ERROR] [1737040693.609344598] [locobot_node]: Initialization error: Failed to setup ROS 2 bridge after 3 attempts
Traceback (most recent call last):
File "/home/ubuntu/stable_ws/install/stable_trail_robotic/lib/stable_trail_robotic/locobot_node.py", line 124, in <module>
main()
File "/home/ubuntu/stable_ws/install/stable_trail_robotic/lib/stable_trail_robotic/locobot_node.py", line 113, in main
node = LocoBotNode()
File "/home/ubuntu/stable_ws/install/stable_trail_robotic/lib/stable_trail_robotic/locobot_node.py", line 50, in __init__
raise RuntimeError(f"Failed to setup ROS 2 bridge after {max_retries} attempts")
RuntimeError: Failed to setup ROS 2 bridge after 3 attempts
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-01-16 15:18:13 [16,597ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2025-01-16 15:18:13 [16,666ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
Additional Information
What I’ve Tried
I tried to set the correct path in my bashrc file and created an activation file for conda with the right path to all necessary elements.
Here is what I added to the bashrc:
# Isaac Sim Environment Setup
export ISAAC_SIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.2.0"
export ISAAC_SIM_EXT_PATH="${ISAAC_SIM_PATH}/exts"
export CARB_APP_PATH="${ISAAC_SIM_PATH}/kit"
export ISAAC_PATH="${ISAAC_SIM_PATH}"
# Update PATH and LD_LIBRARY_PATH for Isaac Sim
export PATH="${ISAAC_SIM_PATH}/python/bin:${PATH}"
export LD_LIBRARY_PATH="${ISAAC_SIM_PATH}/python/lib:${ISAAC_SIM_PATH}/exts:${LD_LIBRARY_PATH}"
export PYTHONPATH=$PYTHONPATH:$ISAAC_SIM_PATH/exts/omni.isaac.ros2_bridge
# ROS 2 specific variables needed for Isaac Sim
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_VERSION=2
export ROS_DISTRO=humble # You already have ROS setup, but Isaac needs this explicit
# ROS 2 and related tools setup
source /opt/ros/humble/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/gazebo/setup.sh
# ROS 2 configuration
export ROS_DOMAIN_ID=30 #TURTLEBOT3
export LDS_MODEL=LDS-02
# Source ROS 2 workspace if it exists
if [ -f ~/stable_ws/install/setup.bash ]; then
source ~/stable_ws/install/setup.bash
fi
I also made sure to have the extension enabled in the code and to import Isaac sim before omni
"ext_folder_prefix": [],
"enabled_extensions": [
"omni.isaac.ros2_bridge",
"omni.kit.viewport-window",
"omni.isaac.core",
"omni.physx",
"omni.physx.bundle"
],