Issue with RTX Lidar Sensors tutorial

[ludokun]

Hello everyone.

I’m using Isaac Sim 5.0.0 (also tried with Isaac Sim 4.5.0) on Ubuntu 22.04.
I’m trying to do the RTX Lidar Sensors tutorial from the following link: RTX Lidar Sensors — Isaac Sim Documentation

My issue is that after pressing the play button in Isaac Sim then launch rviz from the rviz2 command, when I add the laserscan or pointcloud2, every frame the following warning shows up in the terminal and I’m seeing nothing on rviz2.

[INFO] [1756852046.167682253] [rviz]: Message Filter dropping message: frame ‘base_scan’ at time XXX for reason ‘discarding message because the queue is full’

Below is what I’ve done/tried so far:

-try to add ROS_CLOCK from the warehouse carter navigation stage from the Robotic Examples

-on the ActionGraph which contain the Isaac Create Render Product node and ROS2 RTX Lidar Helper node, I’ve added 2 ROS2 Publish Transform Tree with the following parentPrim/targetPrims setting:

1st ROS2 Publish Transform Tree:

parentPrim : /World/Turtlebot3

targetPrims:/World/Turtlebot3/base_footprint/base_link

2nd ROS2 Publish Transform Tree

parentPrim:/World/Turtlebot3/base_footprint/base_link

targetPrims:/World/Turtlebot3/base_footprint/base_link/base_scan

I’ve also tried to run the warehouse carter navigation from the Robotic Examples (ROS2 Navigation — Isaac Sim Documentation) and below are the result:

• when running ros2 launch carter_navigation carter_navigation.launch.py command, the warning above appear every frame for a couple of second then everything works fine.
• when running rviz2 command, if I set Target Frame (from the Current View) to front_2d_lidar and add a laserscan with the topic /front_2d_lidar/scan nothing happen (no warning and no visual). If I set Target Frame to front_3d_lidar and add a PointCloud2 with the topic /front_3d_lidar/lidar_points I have no visual in RViz and the above warning appear every frame. (I got the Target Frame and topic from the ros_lidars ActionGraph)

I’m attaching my stage hierarchy and my actiongraph (with and without the ROS2 Publish Transform Tree node)

using the RTX Lidar Sensor stage, I’ve also tried to run the following command : ros2 topic echo /scan —once but almost most of the time ranges return -1. I’m using the simple_room USD from Isaac Sim/Environments/Simple_Room in the Content tab.

Could you please tell me how to fix my issue?

I really thank you in advance for your help

[ludokun]

I found my issue.
There is nothing wrong with my Isaac Sim stage and ActionGraph.

The issue I had was that I didn’t set Fixed Frame properly in RViz.

Because I don’t know enough RViz, I set “base_scan” in the Target Frame property from Current View (where be default the value is Target Frame ). After setting “base_scan” in the Displays/Global Options/Fixed Frame (default value was “map”), I was able to see the laserscan and PointCloud2