Update messages to use index-aligned name, pose, and is_valid arrays

Author: sgrizan-nv

examples/teleop_ros2/README.md

@@ -60,9 +60,9 @@ Robot assets are never downloaded by `teleop_ros2_node.py` at runtime.
 ## Published Topics
 
 - `xr_teleop/hand_left` (`teleop_ros2_interfaces/msg/HandJointPoses`)
-  - Named left OpenXR hand joint poses; `joints` has 25 entries, each with `name`, `pose`, and `valid`; includes `WRIST`, omits `PALM`
+  - Named left OpenXR hand joint poses; `name`, `pose`, and `is_valid` each have 25 index-aligned entries; includes `WRIST`, omits `PALM`
 - `xr_teleop/hand_right` (`teleop_ros2_interfaces/msg/HandJointPoses`)
-  - Named right OpenXR hand joint poses; `joints` has 25 entries, each with `name`, `pose`, and `valid`; includes `WRIST`, omits `PALM`
+  - Named right OpenXR hand joint poses; `name`, `pose`, and `is_valid` each have 25 index-aligned entries; includes `WRIST`, omits `PALM`
 - `xr_teleop/ee_pose_left` (`geometry_msgs/PoseStamped`)
   - Left hand/controller EE pose; published when the left EE source is active
 - `xr_teleop/ee_pose_right` (`geometry_msgs/PoseStamped`)

examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py

@@ -55,17 +55,18 @@ def _unpack_msgpack(msg: ByteMultiArray) -> dict:
 def _assert_hand_joint_poses(msg: HandJointPoses) -> None:
     if msg.header.frame_id != "world":
         raise ValueError(f"unexpected frame_id {msg.header.frame_id!r}")
-    names = [joint.name for joint in msg.joints]
+    names = list(msg.name)
     if names != _EXPECTED_HAND_POSE_NAMES:
         raise ValueError("hand joint pose names do not match the expected order")
     if len(set(names)) != len(names):
         raise ValueError("hand joint pose names are not unique")
-    if not any(bool(joint.valid) for joint in msg.joints):
+    if len(msg.pose) != len(names) or len(msg.is_valid) != len(names):
+        raise ValueError("hand joint pose arrays differ in length")
+    if not any(bool(is_valid) for is_valid in msg.is_valid):
         raise ValueError("all hand joint poses are invalid")
 
     positions = []
-    for joint in msg.joints:
-        pose = joint.pose
+    for pose in msg.pose:
         position = (pose.position.x, pose.position.y, pose.position.z)
         orientation = (
             pose.orientation.x,

examples/teleop_ros2/python/messages.py

@@ -11,7 +11,7 @@
 from geometry_msgs.msg import Pose, PoseStamped
 from scipy.spatial.transform import Rotation
 from sensor_msgs.msg import JointState
-from teleop_ros2_interfaces.msg import HandJointPose, HandJointPoses
+from teleop_ros2_interfaces.msg import HandJointPoses
 
 from isaacteleop.retargeting_engine.interface import OptionalTensorGroup
 from isaacteleop.retargeting_engine.tensor_types.indices import (
@@ -240,9 +240,9 @@ def build_hand_msg_from_hand(
                 pose = apply_transform_to_pose(pose, transform_rot, transform_trans)
         else:
             pose = to_pose([0.0, 0.0, 0.0])
-        msg.joints.append(
-            HandJointPose(name=joint_name, pose=pose, valid=joint_is_valid)
-        )
+        msg.name.append(joint_name)
+        msg.pose.append(pose)
+        msg.is_valid.append(joint_is_valid)
     return msg
 
 

examples/teleop_ros2/teleop_ros2_interfaces/CMakeLists.txt

@@ -10,7 +10,6 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-    "msg/HandJointPose.msg"
     "msg/HandJointPoses.msg"
     DEPENDENCIES
         geometry_msgs

examples/teleop_ros2/teleop_ros2_interfaces/msg/HandJointPose.msg

@@ -3,4 +3,6 @@
 
 # Named hand joint poses in the same frame.
 std_msgs/Header header
-HandJointPose[] joints
+string[] name
+geometry_msgs/Pose[] pose
+bool[] is_valid