i am using isaac-sim 5.1.0 version and simulating simple turtlebot3_burger mobile robot and i have added physics rotating lidar and i am publishing below topics to isaac-ros cli
/clock
/cmd_vel
/imu
/odom
/parameter_events
/rosout
/scan
/tf
and as for isaac-ros i have Initialized Isaac ROS CLI following this tutorial:
nvcr.io/nvidia/isaac/ros:noble-ros2_jazzy_d3e84470d576702a380478a513fb3fc6-amd64
this is the image i am using in isaac_ros
now when i try to run simple package for example isaac_ros_occupancy_grid_localizer and i have followed each steps correctly as in documentation.
in rviz console i can see the robot location correctly and set the initial position using below command inside isaac ros:
ros2 service call /trigger_grid_search_localization std_srvs/srv/Empty {}
i have followed below documentation
this below image is from starting the launch file:
now i will Trigger the localization using a command line service call::
upto this i should be able to give nav2_goal and then the robot should move:
but i am getting navigation:, localization, feedback all unknown instead of active and when i try to give nav2_goal i get below logs with navigate_to_pose not available:
[component_container_isolated-2] [INFO] [1765285274.470863262] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[rviz2-1] [ERROR] [1765285275.350061018] [rviz_navigation_dialog_action_client]: navigate_to_pose action server is not available. Is the initial pose set?
[component_container_isolated-2] [INFO] [1765285276.471059177] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[component_container_isolated-2] [INFO] [1765285278.471260291] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[component_container_isolated-2] [INFO] [1765285280.471509691] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[component_container_isolated-2] [INFO] [1765285282.471773660] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[component_container_isolated-2] [INFO] [1765285284.471992377] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[component_container_isolated-2] [INFO] [1765285286.472209867] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
[component_container_isolated-2] [INFO] [1765285288.472617055] [lifecycle_manager_navigation]: Waiting for service route_server/get_state…
do i have to set up nav2 separately in isaac_ros_cli or is there anything i am missing here?