How can I control lift joint of transporter with Action graphs and Ros2 in Isaac sim

Omniverse Isaac Sim
1

hello Everyone,
I am trying to control the IdealWorks transporter robot and I don"t know which controller node I should pick or how i should embed the lifting functionality into an action graph, so i can control it with Ros2 commands.
I’m trying to do something similar to what is happening in this video: https://www.youtube.com/watch?v=RTxQUHCtFu8 timestamp 0:48
Any suggestions or recommendations are welcomed and much appreciated.

best regards,

Alex

4

Hey @alexander.aasmann! What is the Isaac Sim version you are using? If you are using Isaac Sim 4.2, you can refer to the ROS2 Navigation example iw.hub Navigation. The idealworks robot has a lift_joint. You can create an Action Graph with articulation controller to control lift_joint.