Publish/sub general joint types to ROS2

Omniverse Isaac Sim
1

Reference topic: MultiDOFJointState Message in Action Graph

Tried importing Humanoid and publish the joints using ROS2 joint state publisher.

  1. Same as above reference topic, failed to publish all joints except Revolute joints. What are the recommended ways to publish other joint types as well?

  2. Is it recommended create multiple revolute joints to achieve XYZ rotations, or there is another way to achieve such rotation but also can be published to ROS2/ manipulated by articulation controller?

  3. If any humanoid usd sample with controllable rotating joints can be provided will be appreciated

Thanks a lot!

Env: isaacsim-4.2.0, humble

2

Please check if ROS2 Joint Control: Extension Python Scripting — Omniverse IsaacSim and “Humanoid Robots” in the “Robot Assets” documentation are helpful.