Rename ROS 2 publisher to node (#374)

It encapsulates a ROS 2 node, not a publisher. A publisher in ROS 2 is an entity that publishes an individual topic.

Author: sgrizan-nv

.github/workflows/build-ubuntu.yml

@@ -310,7 +310,7 @@ jobs:
             -e NV_CXR_RUNTIME_DIR="$CXR_HOST_VOLUME_PATH/.cloudxr/run" \
             -e XR_RUNTIME_JSON="$CXR_HOST_VOLUME_PATH/.cloudxr/openxr_cloudxr.json" \
             --entrypoint bash teleop_ros2_ref:${{ env.ROS_DISTRO }} -c \
-            "source /usr/local/bin/teleop-env-setup && timeout -s SIGINT 5 uv run teleop_ros2_publisher.py --ros-args -p mode:=$mode -p use_mock_operators:=true > $LOG_FILE 2>&1; rc=\$?; [ \$rc -eq 130 ] || [ \$rc -eq 124 ] || exit 1" || docker_rc=$?
+            "source /usr/local/bin/teleop-env-setup && timeout -s SIGINT 5 uv run teleop_ros2_node.py --ros-args -p mode:=$mode -p use_mock_operators:=true > $LOG_FILE 2>&1; rc=\$?; [ \$rc -eq 130 ] || [ \$rc -eq 124 ] || exit 1" || docker_rc=$?
 
           if [ -f "$LOG_FILE" ]; then
             cat "$LOG_FILE"

examples/teleop_ros2/Dockerfile

@@ -127,4 +127,4 @@ RUN echo "source /usr/local/bin/teleop-env-setup" >> /etc/bash.bashrc
 # Pre-install Python dependencies so uv run doesn't download at every launch.
 RUN uv sync --no-dev
 
-ENTRYPOINT ["/usr/local/bin/teleop-entrypoint", "uv", "run", "teleop_ros2_publisher.py"]
+ENTRYPOINT ["/usr/local/bin/teleop-entrypoint", "uv", "run", "teleop_ros2_node.py"]

examples/teleop_ros2/README.md

@@ -86,11 +86,11 @@ docker run --rm --net=host --ipc=host \
   -r xr_teleop/hand:=my_robot/hand -r xr_teleop/ee_poses:=my_robot/ee_poses
 ```
 
-Available parameters: `rate_hz`, `mode`, `world_frame`, `right_wrist_frame`, `left_wrist_frame`, `left_finger_joint_names`, `right_finger_joint_names`. Use `ros2 param list /teleop_ros2_publisher` and `ros2 param describe /teleop_ros2_publisher <param>` (with the node running) for the full set.
+Available parameters: `rate_hz`, `mode`, `world_frame`, `right_wrist_frame`, `left_wrist_frame`, `left_finger_joint_names`, `right_finger_joint_names`. Use `ros2 param list /teleop_ros2_node` and `ros2 param describe /teleop_ros2_node <param>` (with the node running) for the full set.
 
 By default, `left_finger_joint_names` and `right_finger_joint_names` use the prefixed TriHand names. If overridden, each parameter must provide 7 names in TriHand order (`thumb_rotation`, `thumb_proximal`, `thumb_distal`, `index_proximal`, `index_distal`, `middle_proximal`, `middle_distal`). Those names are threaded into the retargeter output and published on `xr_teleop/finger_joints`.
 
-Available topics for remapping: `xr_teleop/hand`, `xr_teleop/ee_poses`, `xr_teleop/root_twist`, `xr_teleop/root_pose`, `xr_teleop/controller_data`, `xr_teleop/full_body`, `xr_teleop/finger_joints`. Active remaps can be inspected with `ros2 node info /teleop_ros2_publisher`.
+Available topics for remapping: `xr_teleop/hand`, `xr_teleop/ee_poses`, `xr_teleop/root_twist`, `xr_teleop/root_pose`, `xr_teleop/controller_data`, `xr_teleop/full_body`, `xr_teleop/finger_joints`. Active remaps can be inspected with `ros2 node info /teleop_ros2_node`.
 
 ### Mode
 

…eop_ros2/python/teleop_ros2_publisher.py …s/teleop_ros2/python/teleop_ros2_node.pyexamples/teleop_ros2/python/teleop_ros2_publisher.py renamed to examples/teleop_ros2/python/teleop_ros2_node.py examples/teleop_ros2/python/teleop_ros2_publisher.py renamed to examples/teleop_ros2/python/teleop_ros2_node.py

@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 """
-Teleop ROS2 Reference Publisher.
+Teleop ROS2 Reference Node.
 
 Publishes teleoperation data over ROS2 topics using isaacteleop TeleopSession.
 The `mode` parameter selects the teleoperation scenario and which topics are
@@ -428,11 +428,11 @@ def _build_full_body_payload(full_body: OptionalTensorGroup) -> Dict:
     }
 
 
-class TeleopRos2PublisherNode(Node):
+class TeleopRos2Node(Node):
     """ROS 2 node that publishes teleop data."""
 
     def __init__(self) -> None:
-        super().__init__("teleop_ros2_publisher")
+        super().__init__("teleop_ros2_node")
 
         self.declare_parameter("mode", "controller_teleop")
         self.declare_parameter("rate_hz", 60.0)
@@ -880,7 +880,7 @@ def main() -> int:
     rclpy.init()
     node = None
     try:
-        node = TeleopRos2PublisherNode()
+        node = TeleopRos2Node()
         return node.run()
     finally:
         if node is not None: