Using rclpy in Python Behaviour Scripts of Isaac sim

I’ve been ROS 2 communication in Isaac sim, and I’m able to subscribe to a ROS2 topic using visual scripting but is it possible to subscribe to a topic directly within a Python behaviour script instead of relying on visual scripting.

Specifically, I’d like to know if there’s a way to utilize rclpy subscriptions within Python behaviour scripts to receive messages from ROS 2 topics. My aim is to subscribe to the ROS2 Topic within the script and Set velocity of prim using UsdPhysics.RigidBodyAPI

If anyone has experience or insights into this topic, I would greatly appreciate any guidance or examples you could provide. Thank you in advance for your help!

Hi,

For better visibility, I am moving your topic to the Isaac Sim category.

Raffaello

1 Like

Hi @d1shu - Have you reviewed this doc?
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html?highlight=RCLPy#ros2-joint-control-extension-python-scripting