ROS agent in Habitat

[JulioPlaced]

I'm opening a new issue for this. It also seem related to physics

Let's see if we can find a solution. I'm using Ubuntu 20, ROS noetic, habitat 0.2.0 (no diff between source/conda), habitat lab correctly installed.

Launching:
python src/scripts/roam_with_joy.py --hab-env-config-path configs/roam_configs/pointnav_rgbd_roam_mp3d_test_scenes.yaml --scene-id data/scene_datasets/mp3d/2t7WUuJeko7/2t7WUuJeko7.glb

Results in:

And get stuck there, with
Initializing task Nav-Phys
INFO env making sure agent is subscribed to sensor topics...

[ericchen321]

Hi @JulioPlaced you'll need to create a dummy node to listen to /pointgoal_with_gps_compass. Also updated the readme (originally I had it as Step 10 under "Navigating ROS Agent in Habitat Sim" but I guess that's not the best place for people to find it).

[JulioPlaced]

Thanks, that solved it, although it bounces now to the error we discussed previously:
AttributeError: 'NoneType' object has no attribute 'motion_type'