Using sim_time while testing positional tracking in Isaac Sim

Software
1

Hello,

I am trying to test Positional Tracking feature of ZED through simulations in Isaac Sim using instructions at https://www.stereolabs.com/docs/isaac-sim/ros2_integration. Things seem to be working fine including visualizing everything in Isaac Sim. However, it seems the ZED node is unable to read from the /clock topic. The use_sim_time flag is set to True and echoing the /clock topic shows that messages are being published on it. However, the ZED node keeps displaying the warning “Waiting for a valid simulation time on the ‘/clock’ topic…” in 5 second intervals.

Any help on this topic would be appreciated. Thanks!

2

I was able to solve the issue. There was another omnigraph in the node that was also publishing to the /clock topic which seemed to mess up the setup. Deleting that action graph removed the warning.

3

Hi @Sayan,

Thank you for the feedback, we will log this to include this fix in future versions of the extension :+1: