Send velocity to Joints with ROS topic

Omniverse Isaac Sim
1

Hi everyone!

I’m trying to send velocity to joint on my own robot. Everything works fine with position, however it doesn’t work with speed of Joint. I’m using code from example Rostopics.
Code with positions:

rospy.init_node("test_rosbridge", anonymous=True)
pub = rospy.Publisher("/joint_command", JointState, queue_size=10)
rate = rospy.Rate(20)
joint_state = JointState()

joint_state.name = [
    "front_left_wheel",
    "front_right_wheel",
    "rear_left_wheel",
    "rear_right_wheel"
]
num_joints = len(joint_state.name)
joint_state.position = np.array([0.0] * num_joints)

joints = np.array([0.0, 0.0, 0.0, 0.0])
while not rospy.is_shutdown():
    joints += 0.1
    joint_state.position = joints
    pub.publish(joint_state)
    rate.sleep()

Code with velocity:

    rospy.init_node("test_rosbridge", anonymous=True)
    pub = rospy.Publisher("/joint_command", JointState, queue_size=10)
    rate = rospy.Rate(20)
    joint_state = JointState()

    joint_state.name = [
         "front_left_wheel",
        "front_right_wheel",
       "rear_left_wheel",
        "rear_right_wheel"
     ]
    num_joints = len(joint_state.name)
    joint_state.velocity = np.array([1.0] * num_joints)
    while not rospy.is_shutdown():
        pub.publish(joint_state)
        rate.sleep()
2

Hi,

Velocity control via ROS bridge is not supported in this version of Isaac Sim, but will be in our next release.