[Question] Publishing Joint states of manipulator as ROS 2 joint_state topic

[qboticslabs]

Hi

I am trying to train a manipulator reach task, and when I play the trained model, I would like to add an OmniGraph in Isaac Sim to publish the joint_state as a ROS 2 topic.

When I am doing the simulation, the play simulation immediately stops. I tested using the Franka Reach environment.

Any idea how to publish the actions of the RL model as ROS 2 topics?

[RandomOakForest]

Thank you for posting this question. There are great tutorials in the Isaac Sim side, for example, this about deploying policies, and this other section with tutorials about Isaac ROS 2. There is also a wealth of information in the Isaac Sim forums.