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I have a humanoid urdf file and import it as usd file, which include arm joints and leg joint, I wants to create multiple ros2 robot joint states publishers for arm and leg in different topic in action graph.
In the graph node ros2 publish joint state, when I select one prim under the robot (like base_link) as target prim, it will publish all joint states including arm and leg.
I don’t think that is doable as the ROS2 publish joint state requires the target prim to be the articulation root. But maybe you can try using ROS2 subscribe joint state and a customized action graph node to separate and publish the joint states in separate topics.
Or an easy option is to publish the same full articulation joint state twice (one for arms, one for legs) and then on the receiving end, ignore any joints you don’t care about
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