Isaac sim4.5.0 Action graph ROS2 publisher publishing inconsistent value

[kuoyuting123]

Hi, I am using action graph to publishing multiple objects in the scene, each with a separate action graph. (I am sure every action graph structure is identical because I copy and paste them and just change the name, the topicName, and prim of them)
The attribute name in Read Prim Attribute is set to xformOp:orient, and the outputs for the position and orientation looks fine in isaac sim.

However, the value showing on ROS2 topic is wrong on the orient part, which is weird because the position part is correct.
Why is this happening?

Please help, thanks

[zhengwang]

Hi @kuoyuting123 welcome to the community!

Please try to use our latest release Isaac Sim 5.0.0.

I tried with Isaac Sim 4.5.0 and I am not able to replicate this issue.

Here is my USD file for your reference:
test.zip (3.7 KB)

[kuoyuting123]

Hey zhengwang,

Thanks for the reply. Unfortunately, I can’t use Isaac Sim 5.0.0 due to my company’s regulations.

This problem is baffling; I have several of the exact same action graphs publishing different objects. Most of them are working correctly, but some are broken like this, and I haven’t been able to fix them.

However, I managed to find a solution by publishing the values using standard std_msgs. It’s a detour, but it works effectively.