I am a junior research engineer attempting to achieve a POC using Omniverse Sim and ROS. I intend to run turtlesim with teleop control and publish the pose topic of the turtle to Omniverse. Using this pose topic I wish to control the pose of a simple object such as the cube used in the samples. This goal of this POC is to eventually visualise the pose and movement of a physical ROS-based robot in real time using Omniverse.
The ROS-omniverse samples have been helpful, and it appears that my task is a blend of the ROS service example (for teleporting a cube) and ROS topic example (for commanding the pose of the panda arm). However I am struggling to understand how I would write my own program to translate ROS topic messages into pose commands for a simple Sim object such as the cube. The ‘omni.isaac.RosBridgeSchema’ module that is used by the samples to define the classes for Omniverse side subscriber/publishers appears to be not publicly available (the files are .pyc not .py). I would like to see how these classes and methods are written and how I could create my own.
I am unsure how to advance with this task. I have a reasonable background understanding of robotic systems however I am relatively new to ROS and Isaac. Any help/advice on how I can further understand translating ROS topic messages into Omniverse commands/behaviours would be greatly appreciated. Thanks in advance!