Isaac SIM Replicator Agent SDG + ROS graph Issue

Omniverse Isaac Sim
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1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
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: Quadro RTX 4000 (8 GB VRAM)
  • Driver Version: 535.183.01

Topic Description

Detailed Description

I havea pipeline where we load the iw_hub_ROS (Robots/Idealworks/iw_hub.usd with ROS graphs) and also some other extensions that are essential for the end to end simulation pipeline. When I launch the navigation stack and run the simulation without activating the SDG Replicator extension everything works as expected and the iw_hub_ROS is able to navigate smoothly without any problems in localization.

On the contrary when the same setup is executed with the SDG Replicator activated we see very abnormal issues in the Lidar scan of the iw_hub_ROS. Because of this, the robot is unable to navigate to goal position because it loses its localization, and it is very unstable.

I have also provided the steps below to reproduce it.

Note: Given I dont have a powerful GPU and my drivers are not updated, the same issue with the same setup has been tested on different machine, some with very powerful multiple GPUs and updated drivers

Steps to Reproduce

  1. Activate Isaac Sim Replicator Agent SDG
  2. Launch the iw hub navigation stack
  3. Launch RViz to visualize the issue with the Lidar Scan

Error Messages

OmniGraphError: Could not find OmniGraph node from node description '/Render/OmniverseKit/HydraTextures/Replicator_01/PostRender/SDGPipeline/Replicator_01_IsaacReadTimesAOV' - Node path 

'/Render/OmniverseKit/HydraTextures/Replicator_01/PostRender/SDGPipeline/Replicator_01_IsaacReadTimesAOV' was not an OmniGraph node
2025-03-12 15:07:54 [793,555ms] [Warning] [omni.graph.core._impl.commands.topology_commands] OmniGraphError: Could not find OmniGraph node from node description '/Render/OmniverseKit/HydraTextures/Replicator_01/PostRender/SDGPipeline/Replicator_01_GpuInteropEntry' - Node path 

'/Render/OmniverseKit/HydraTextures/Replicator_01/PostRender/SDGPipeline/Replicator_01_GpuInteropEntry' was not an OmniGraph node

Screenshots or Videos

The following image shows the issue with the scan as seen in RViz when the navigation stack is launched and the simulation is played (SDG is activated). You can see the Lidar scan is acting very weird (like at the top everything being detected in the horizontal direction when actually there is nothing

Lidar Scan issue when SDG extension is active
Lidar Scan issue when SDG extension is active943×468 263 KB

The scan of the robot when SDG is not activated and the Lidar scan acts normal in RViz

SLidar Scan without any issue ()
SLidar Scan without any issue ()1142×641 99.9 KB

Additional Information

What I’ve Tried

I have already described what I did to solve the issue. I deactivated the SDG extension and retried everything, and when I do that, everything seems to work perfectly.

Kindly help with this issue, and also let me know if this can be solved in a way where we can use the SDG and also the iw_hub_ROS setup at the same time

1 Like
2

hi @muhammad.s.arshid , is there any error or warning which is logged when you enable the extension? From the log it seems to complain about a missing node (OG Nodes for Replicator)