Teleop ROS 2 Agent Notes

Supported ROS 2 reference publisher for Isaac Teleop. Hosted under examples/ because it depends on ROS 2 and the isaaccapture wheel; it is not part of the core library. Consumed by Isaac ROS Teleop.

Docker Validation

• This reference integration needs ROS 2 plus the built isaaccapture wheel, which are not present in the dev container. Run/validate it inside the examples/teleop_ros2/Dockerfile image (the same path CI's test-teleop-ros2 job uses), not directly on the host.
• To exercise it without live XR hardware, replay an MCAP fixture: build the image, run the installed teleop_ros2_mcap_generator to write a fixture, then run python -m isaaccapture_examples.teleop_ros2 with -p mode:=<mode> -p mcap_replay_path:=<file> and check topics (e.g. via python -m isaaccapture_examples.teleop_ros2.integration_tests.teleop_ros2_topic_verifier). Replay mode does not launch CloudXR, so no GPU/NGC runtime is required. Share the fixture across containers with -v /tmp:/tmp and --network host for ROS 2 discovery.
• The image build disables some CI gates (-DENABLE_CLANG_FORMAT_CHECK=OFF, -DBUILD_TESTING=OFF), so a green Docker build does not mean C++ formatting or ctest pass. Validate those separately.
• When creating temporary Docker images for examples/teleop_ros2 validation, remove them before finishing the task unless the user explicitly asks to keep them.

Source Layout

• In source code files under this package, preserve the existing grouped/sorted organization for helpers, message builders, classes, and member functions: scan the surrounding order before inserting, and do not place helpers near call sites when the existing section is sorted.
• In Python integration test verifier code, do not use bare assert for runtime validation; Python optimization can disable it, so raise explicit exceptions from validators.
• Keep ROS publisher methods at one abstraction level: call one output-specific pure builder, then publish or broadcast its result. Compose payload construction and transport encoding inside the message-builder module, not in the node.
• Do not extract a one-use mapping helper merely to shorten a builder; keep the complete output mapping together unless the helper is reused or represents an independently tested contract.

Rename consistency

• When renaming a symbol or concept, update semantically coupled type names, fields, variables, constructor keywords, consumers, and tests in the same pass so old and new vocabulary do not coexist.