Why the ROS2 joint space subscriber cannot recieve efforts?

Hello, I am working on Isaac Sim to adapt it to legged robotics.

So far as I know, it seems that the ROS2 Subscribe Joint State node cannot receive JointState.efforts msg.
(As described in 8. ROS2 Joint Control: Extension Python Scripting — Omniverse Robotics documentation)
When I sent JointSpace.effort type message in the above example, it showed an error like the below picture.

It seems a bit strange as it works well with the position or velocity commands, and even the effort command already exists in the node options.

I wonder whether I am doing something wrong or if the feature will be added in the next release.
Thanks in advance.

Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.

Hi there,
I’m still facing this issue with the latest Isaac Sim release.
Do you have any update regarding this?


Hi @frido.feldmeier,

Could you try re-running your setup in the latest the release IsaacSim 2023.1.0 to see if the issue is now resolved?