Dockerized IsaacSim 4.5.0 + Python + ROS2 Bridge to run mini simulation with external ROS2 node

Omniverse Isaac Sim
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Hey everyone,

I am trying to run a small simulation to test my controller in ROS2 on a few little tests I made (USD+some Python code) that I can get to run via .\python.sh tests.py, but it seems that I keep having issue with ROS2 Bridge not being able to startup although it works when I use it with streaming kit.
I would like just to be able to talk to my robot model inside the sim, can someone point me to some example or resource of running Python scripts with Isaac Sim 4.5.0 and ROS2 Bridge enabled?
I tried making it into extension, but still need the full app to boot and then I cannot get the extension/tests to run at all.
Am I doing something conceptually wrong?

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Hello,

We recommend upgrading to Isaac Sim 5.1, which includes the latest bug fixes and improvements.

For Python examples with ROS2, please refer to the official documentation:

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