Error:[/ActionGraph]Prim is not an articulation ros2_publish_joint_state ROS2PublishJointState(omni.isaac.ros2_bridge)

[hijimasa]

This topic shows that articulation root is /franka_alt_fingers.

Corrections to tutorial: ROS2 Joint Control: Extension Python Scripting

I am going through Tutorial 7.2.10. ROS2 Joint Control: Extension Python Scripting. At the step “7.2.10.3. Add Joint States in UI”, points 4 and 5 instruct to select /panda as the articulation root. In the current version of Isaac Sim (2023.1.1) the Franka Emica articulation is at the root prim /franka_alt_fingers. So the tutorial description needs to be changed. Here is the link to the tutorial: https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html#…

But the Prim is not exist, is it?
I will try the demo later.