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name: ros2-telemetry description: "Explains and diagnoses the go2_omniverse simulated ROS 2 topic contracts, message conversions, bundled runtime boundaries, and sensor caveats." disable-model-invocation: true metadata: disco-role: operating license: BSD 2-Clause

ROS 2 telemetry

Use this route for topic names/types, TF and quaternion conventions, cmd_vel, QoS, custom interface compatibility, camera/LiDAR, or ROS graph diagnostics.

Route by message surface

• Simulated per-robot data and command input: read references/ros2-topics.md.
• A consumer expects go2_interfaces messages: read references/legacy-interfaces.md before changing a subscriber.
• Camera/LiDAR or sensor extension errors: read references/lidar-and-camera.md.
• /real_dog/*, Jetson LowState, or DDS interface discovery: route to digital-twin, not this route.

Safe diagnostic order

1. Confirm the simulation launcher and bundled ROS runtime are the same version; do not mix system Jazzy Python 3.12 libraries with Isaac Python 3.11.
2. Inspect topic names/types and QoS on the running graph before changing code.
3. Check frame IDs and quaternion order at the message boundary.
4. Only then debug camera/LiDAR extensions or custom interface builds.

Use the topic references to generate commands for an operator, but do not start or mutate a ROS graph during a static skill check. The local Creator environment had no ros2 CLI and no live graph, so live topic verification remains pending.

Read references/troubleshooting.md for ABI, message-package, QoS, and optional sensor recovery.