Hi zhengwang,
I got this issue several months ago and finally solved it by creating the articulation controller using scripts instead of OmniGraph. But I still do not understand what is going wrong with OmniGraph.
Details about my issue are also provided in my earlier question, I believe it is the same issue discussed here.
For a minimal setup, you can check the video link in my earlier question (with necessary USD files, ROS 2 package files, and step-by-step instructions provided).
Hope this issue can be resolved with your help!