Hi, there, I am trying to imigrate my robot project from gazebo to omniverse, and met some wired issues, all related to articulation and omnigraph
My work flow is base on ROS2 and Isaac sim 2023.1, I publish command to the robot in sim, and subscribe data from simulation. My robot has five velocity joints and one position joint. I am running three omnigraph simutounuesly, one for publish RTX Lidar, one for controlling position joint and one for controlling velocity joints.
The issues are:
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I cannot give any position control command to the position joint, no matter how I tune the joint parameter including damping, stiffness and others. I tried to publish position command only, but not working.
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Four of five velocity joints can be controlled, but the fifth one is not working. I am sure I have published all five joints command from ROS. If I slide the bar to control the velocity of that joint in the joint setting panel, then the model will be crashed into pieces and fly away.
The most wired thing, I can access to the joint states published by omnigraph at any time. With monitoring the joint_states topic, all joints’s state are updating well.
I cannot figure it out, could someone be helping me, Thanks.