Python API ROS topics not showing up + publishing

Omniverse Isaac Sim
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1 
        # Create a camera
        omni.kit.commands.execute(
            "CreatePrimWithDefaultXform",
            prim_type="Camera",
            prim_path="/sim_camera",
            attributes={"focusDistance": 400, "focalLength": 24},
        )

        omni.kit.commands.execute(
            "TransformPrimCommand",
            path="/sim_camera",
            old_transform_matrix=Gf.Matrix4d(
                0.0, 1.0, -0.0, 0.0, -0.0, 0.0, 1.0, 0.0, 1.0, -0.0, 0.0, 0.0, 0.0, 0.0, -0.0, 1.0
            ),
            new_transform_matrix=Gf.Matrix4d(
                -0.642788,
                0.766045,
                0.0,
                0.0,
                -0.133022,
                -0.111619,
                0.984807,
                0.0,
                0.754407,
                0.633022,
                0.173648,
                0.0,
                175.0,
                150.0,
                70.0,
                1.0,
            ),
        )

        # adding camera topic
        omni.kit.commands.execute(
            "ROSBridgeCreateCamera",
            path="/ROS_Camera",
            enabled=True,
            resolution=Gf.Vec2i(1280, 720),
            frame_id="sim_camera",
            camera_info_topic="/camera_info",
            rgb_enabled=True,
            rgb_topic="/rgb",
            depth_enabled=True,
            depth_topic="/depth",
            segmentation_enabled=False,
            semantic_topic="/semantic",
            instance_topic="/instance",
            label_topic="/label",
            bbox2d_enabled=False,
            bbox2d_topic="/bbox_2d",
            bbox3d_enabled=False,
            bbox3d_topic="/bbox_3d",
            queue_size=10,
            camera_prim_rel=["/sim_camera"],
        )

I copied this code from the rostopics.py example in omni.isaac.ros_bridge into my own code. However, while running rostopics.py via GUI works (in that it creates topics /rgb, /semantic, etc), in my own code, it does not create these topics – when I run rostopic echo, only the default roscore topics come up.

I remember that in version 2020.2 you also had to start up the editor. However, including the line self.editor = omni.kit.editor.get_editor_interface() in my code yields an error saying that it resulted in a nullptr. Moreover, in the example, there is the line:

if not self._timeline.is_playing():
    self._timeline.play()

which I likewise incorporated into my code, but it also did not do anything.

Is there an additional step that needs to be done in order to get the topics to appear + publish? Also, is there a standalone Python API example for ROS bridge stuff?

2

Solved: Have to add

"omni.isaac.ros_bridge" = {}
"omni.isaac.ros_bridge_ui" = {}

under [dependencies] in omni.isaac.sim.python.kit. I assumed that it was already there since omni.isaac.sim.python.kit includes some of the dependencies that were missing by default from the old experiences file.