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Python API#

class Ros2ControlManager#

In-process ros2_control ControllerManager for a USD articulation.

static setup(
prim_path: str,
controller_config: str,
urdf_path: str | None = None,
namespace: str = '',
publish_robot_description: bool = True,
*,
use_sim_time: bool = True,
) → int#

Bring up a ControllerManager for the articulation at prim_path.

urdf_path is optional; if None, falls back to customLayerData["isaac:sourceUrdf"] on the root layer (set by the URDF importer). Used only as a sensor / hardware-param overlay; the kinematic URDF is always live-exported from USD.

When use_sim_time is true, provide /clock with a ROS 2 bridge clock node or another ROS clock source.

static teardown(prim_path: str) → None#

Tear down the ControllerManager for the articulation at prim_path.

static teardown_all() → None#

Tear down all ControllerManagers.