MultiDOFJointState Message in Action Graph

Omniverse Isaac Sim
1

Hi all,

I am trying to publish joint information (transform and rotate) for a spherical joint, is there a way to do it via action graph in Isaac Sim? specifically, similar to the MultiDOFJointState Message in ROS2.

Actiongraph
Actiongraph1035×661 62 KB

I have success with publishing the joint state for prismatic and revolute joints (action graph attached), but not with other joint type.

I am using ros2 humble and Isaac Sim 2022.1.1.

Thank you,
J