ROS2 Control Manager

Configures and starts a ros2_control ControllerManager bound to a USD articulation. On the first tick, walks the USD hierarchy under targetPrim, synthesizes a URDF, and spins up the in-process ControllerManager. Subsequent ticks are no-ops; the actual read/update/write loop runs from physics post-step callbacks at the configured controller-manager update rate, capped by the physics rate.

Installation

To use this node enable isaacsim.ros2.nodes in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Controller Config (inputs:controllerConfig)	string	Path to a standard ros2_control YAML (the same file you would pass to ros2_control_node on a real robot).
Exec In (inputs:execIn)	execution	Execute	None
Namespace (inputs:namespace)	string	ROS 2 namespace applied to the ControllerManager, all controllers, and the latched /robot_description publisher.
Publish Robot Description (inputs:publishRobotDescription)	bool	If true, latch the synthesized URDF on /<namespace>/robot_description (transient_local QoS) so MoveIt 2 / RViz / external robot_state_publisher can pick it up.	True
Target Prim (inputs:targetPrim)	target	A single ArticulationRootAPI prim, or a parent prim containing exactly one ArticulationRootAPI prim.	None
Urdf Path (inputs:urdfPath)	string	Optional URDF path for sensor / hardware-param overlay. Auto-populated from customLayerData[“isaac:sourceUrdf”] if empty and the URDF importer set it at import time.
Use Sim Time (inputs:useSimTime)	bool	If true, set use_sim_time on the ControllerManager. Provide /clock with a ROS2 Publish Clock node or another ROS clock source.	True

Outputs

Name	Type	Descripton	Default
Exec Out (outputs:execOut)	execution	Fires once on the first tick after the ControllerManager is configured. Subsequent ticks are no-ops and do not fire this output.	None

State

Name	Type	Descripton	Default
Configured (state:configured)	bool	True after successful setup; a timeline Stop schedules setup to run again on the next compute.	False

Metadata

Name	Value
Unique ID	isaacsim.ros2.control.ROS2ControlManager
Version	2
Extension	isaacsim.ros2.nodes
Has State?	True
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 Control Manager
Categories	isaacRos2
Generated Class Name	OgnROS2ControlManagerDatabase
Python Module	isaacsim.ros2.nodes