How to control mock wheel using ROS extension

Omniverse Isaac Sim
1

Hello,

I have been following the tutorial for making a simple robot with two wheels via tutorial_gui_simple_robot.

After adding the ROS extension, I can subscribe the values of the two wheel joints via the ROS command. However, I want to control the wheel moving using the ROS pub command, then I used following ROS command but nothing works. Did I miss something?

ros2 topic pub /mock/joint_command sensor_msgs/JointState "header:
  stamp: {sec: 0, nanosec: 0}
  frame_id: ''
name: [joint_left, joint_right]
position: [2.0, 2.0]
velocity: [0.0, 0.0]
effort: [0.0, 0.0]
"

Thanks for your time and consideration.

2

Hello @im.renpei,

Does it work after setting a high stiffness (such as 100000.0) and zero damping in the Angular Drive settings for joint_left and joint_right under body?
For reference on setting Angular Drive parameters for Position Control see the following page!