Check the DisplayPort Setup#

Use the checks for the DisplayPort workflow you are running. Complete Set Up Hardware and Software for a Real Robot with Isaac ROS Manipulation before physical-robot tests and use the configuration from DisplayPort Cable Insertion with FoundationPose, SAM, and cuMotion for your robot, cameras, and objects. Physical-robot tests can command motion. Complete the setup guide’s safety checks.

Simulation Checks#

Follow DisplayPort Task-Space Policy Pickup and Insertion in Isaac Sim to start the DisplayPort scene and its ROS components. Verify that the scene is playing and that the clock and robot state topics are available:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
ros2 topic echo /clock --once
ros2 topic echo /rizon_joint_states --once

Use the tutorial’s action-server and policy troubleshooting steps if a component is unavailable. Keep the middleware and domain settings consistent in all terminals.

Driver and Hardware Tests#

The Flexiv driver test uses the Rizon 4s and Grav gripper configuration. Point the configuration variable at your edited DisplayPort YAML before launching it:

source ${ISAAC_ROS_WS}/install/setup.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
export ENABLE_MANIPULATOR_TESTING=on_robot
export ISAAC_ROS_MANIPULATION_TEST_CONFIG=/path/to/flexiv_rizon4s_grav_displayport_cable_insertion.yaml

Note

Zenoh requires a router daemon. Start it once, in its own terminal, before launching anything else, and leave it running:

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run rmw_zenoh_cpp rmw_zenohd

launch_test $(ros2 pkg prefix --share isaac_ros_manipulation_bringup)/test/flexiv_drivers_test.py

This exercises the robot_launch_file_path driver plugin. Do not launch a second driver if the DisplayPort workflow already controls the robot.

Perception Checks#

For perception-derived poses, complete the FoundationPose and Segment Anything (SAM) model setup in Set Up Hardware and Software for a Real Robot with Isaac ROS Manipulation. Follow the camera selection and point-input procedure in DisplayPort Cable Insertion with FoundationPose, SAM, and cuMotion. Confirm that SAM is loaded, the plug and socket masks match the selected objects, and the estimated poses align with the scene before confirming robot motion.

For camera calibration, follow the calibration validation procedure. That guide runs run_calibration_validation.sh with the Flexiv target dimensions and your measured camera transforms.

DisplayPort Insertion Check#

The manual-pose orchestrator test uses measured plug and socket poses. Configure those poses in your DisplayPort YAML, then run:

export ENABLE_MANIPULATOR_TESTING=manual_on_robot
launch_test $(ros2 pkg prefix --share isaac_ros_manipulation_bringup)/test/test_displayport_insertion_orchestrator_manual_poses.py

Use the tutorial’s workspace and robot safety checks before triggering insertion.

Troubleshooting#

  • Source the workspace in each terminal and check that the configuration path exists.

  • Verify the robot serial number, network connection, and remote-control mode.

  • If a test exits without checking anything, inspect its RUN_TEST condition and ensure ENABLE_MANIPULATOR_TESTING matches the test’s mode.

  • To inspect the data flow, enable diagnostics before launching components:

    export ENABLE_GLOBAL_NITROS_DIAGNOSTICS=1
ros2 run isaac_ros_nitros diagnostic_viewer.py