The extensions I have created try to mimic Isaac Sim’s ROS system. Let me first explain (from my perspective 👀) how it works to try to provide you an answer.
The whole ROS system in Isaac Sim is structured in multiple extensions:
omni.usd.schema.isaac (omni.isaac.RosBridgeSchema): contains the definition/structure of the USD schemas. Prior to version 2021.1.0 this feature was embedded in the ROS extension (omni.isaac.ros_bridge). Because there is now support for ROS and ROS2 (and their activations are mutually exclusive) it was separated to avoid having duplicate code.
omni.isaac.ros_bridge_ui: generates the menus and commands calling omni.isaac.RosBridgeSchema to add the prims to the stage for both ROS and ROS2. Prior to version 2021.1.0 this feature was also embedded in the ROS extension (omni.isaac.ros_bridge). Because there is now support for ROS and ROS2 (and their activations are mutually exclusive) it was separated to avoid having duplicate code.
omni.isaac.ros_bridge and omni.isaac.ros2_bridge: takes care of executing the functionality of the prims defined in the stage.
So, based on these concepts, I have designed the following extensions:
omni.usd.schema.add_on (mimic omni.usd.schema.isaac).
omni.add_on.ros_bridge_ui (mimic omni.isaac.ros_bridge_ui)
omni.add_on.ros_control_bridge (mimic omni.isaac.ros_bridge) to use ROS Control
Currently no CompressedCamera rostopic is working because I don’t have published the corresponding extension (omni.add_on.ros_bridge) to execute the functionality yet 🙈. I had been to busy last weeks but today in the afternoon, I am going to publish this extension 😉
Please be patient (I will notify you), and many thanks for try it 😁