I am trying to use the Isaac Simulation Gate Node to throttle down my ROS 1 Camera Helper Node such that I can decrease the frequency at which I publish images from a camera. According to the documentation for Isaac Simulation Gate Node (Attached Here[Core Omnigraph Nodes [omni.isaac.core_nodes] — isaac_sim 4.0.0-beta.90 documentation]) setting the step to be zero should disable the execution of connected nodes but in my case I am still able to see that the ROS 1 camera helper is publishing, in fact irrespective of what the step value is the image seems to be published at the same frequency.
I have tried to place the Simulation Gate Node between the On Playback Tick and Create Render Product as well and have not seen as difference in the outcome.
I have also tried using the Simulation Gate Node with the read IMU node and ROS IMU publisher node and I am not able to see any changes in the publishing frequency with change in step value.
Attaching my action graph structure here for reference:
TIA,
Jai