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ROS 2 OmniGraph Nodes#

This guide covers migrating Action Graphs from Isaac Sim 5.1 and earlier to Isaac Sim 6.0 and later. Two ROS 2 OmniGraph publisher nodes now accept pre-computed data from dedicated source nodes rather than resolving Universal Scene Description (USD) prims internally. Isaac Sim 6.0 deprecates the direct prim inputs on these nodes (targetPrims on ROS2 Publish Transform Tree and targetPrim on ROS2 Publish Joint State) and will remove them in a future release.

The following nodes require migration:

Migrating ROS2 Publish Transform Tree#

  1. Add an Isaac Compute Transform Tree node (isaacsim.core.nodes) to your Action Graph and set its targetPrims input to the prims you want to publish. For an articulation root, the full link tree is expanded automatically. Set parentPrim if you need transforms relative to a specific frame rather than the world.

  2. Connect the outputs of Isaac Compute Transform Tree to ROS2 Publish Transform Tree as follows:

    Isaac Compute Transform Tree output

    ROS2 Publish Transform Tree input

    execOut

    execIn

    parentFrames

    parentFrames

    childFrames

    childFrames

    translations

    translations

    orientations

    orientations

    Any inputs on ROS2 Publish Transform Tree not listed in the table above can remain connected to their existing upstream nodes.

Migrating ROS2 Publish Joint State#

  1. Add an Isaac Read Joint State node (isaacsim.sensors.physics.nodes) to your Action Graph and set its prim input to the articulation root prim.

  2. Connect the outputs of Isaac Read Joint State to ROS2 Publish Joint State as follows:

    Isaac Read Joint State output

    ROS2 Publish Joint State input

    execOut

    execIn

    jointNames

    jointNames

    jointPositions

    jointPositions

    jointVelocities

    jointVelocities

    jointEfforts

    jointEfforts

    jointDofTypes

    jointDofTypes

    stageMetersPerUnit

    stageMetersPerUnit

    sensorTime

    sensorTime

    Any inputs on ROS2 Publish Joint State not listed in the table above can remain connected to their existing upstream nodes.

Validation Checklist#

Verify the following after migrating each graph:

  • Saved Action Graphs no longer connect deprecated prim-path inputs directly to the publisher nodes.

  • ROS2 Publish Transform Tree receives transform arrays from Isaac Compute Transform Tree.

  • ROS2 Publish Joint State receives joint state arrays from Isaac Read Joint State.

  • The stage opens in Isaac Sim 6.0 without missing-node or deprecation errors for these migrated graph paths.

  • ROS 2 subscribers receive the same frame names, joint names, odometry topic data, and update rate expected by the downstream stack.

  • The saved USD stage includes all graph updates so future runs do not depend on compatibility migration at load time.