examples(teleop_ros2): package under isaaccapture_examples

[jiwenc-nv]

Description

Part of #985. Active stack: #1039 → #1040 → #1043 → #1046 → #1047.

Rebase the ROS 2 example packaging onto current main using isaaccapture_examples.teleop_ros2. Relative imports, the Docker entry point, workflow commands, tests, and install paths use the same namespace. The predecessor #1038 is merged and is no longer part of the active stack.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

Full pre-commit, strict Sphinx build, and documentation-reference checks passed. Wheel layout and installed-package namespace checks cover the renamed package. ROS 2 container and hardware integration were not run.

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

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📝 Walkthrough

Walkthrough

The ROS 2 teleoperation example now builds as an installable Hatch package under the isaacteleop_examples namespace. A module entrypoint replaces direct script execution. Container and workflow commands use module paths. Internal imports and tests use package-qualified or relative imports. Installation paths and default asset-root resolution match the packaged layout. Pytest supports both source-tree and installed-package execution.

Priority: ➖ Normal

Estimated code review effort: 3 (Moderate) | ~20 minutes

Sequence Diagram(s)

sequenceDiagram
  participant BuildSystem
  participant LaunchCommand
  participant TeleopPackage
  participant TeleopNode
  BuildSystem->>TeleopPackage: install isaacteleop_examples.teleop_ros2
  LaunchCommand->>TeleopPackage: execute module
  TeleopPackage->>TeleopNode: call main()

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Merge Risk: 🟠 High · up to 8a70c

Normal wheel installs cannot start the default DexPilot session because required configuration and assets cannot be found. Fix wheel resource handling before merging.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 2 functions across 12 files. (8 skipped: 8…	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely summarizes the primary change: packaging the teleop_ros2 example under the isaacteleop_examples namespace.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

Full details: Docstring Coverage

Explanation

Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 2 functions across 12 files. (8 skipped: 8 unsupported.)

✨ Finishing Touches 💡 1

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[ivany-nv]

A heads-up about this PR's base rather than its own content: the branch is still
built on the pre-rebase copy of the mcap_record_replay packaging commit, so it
carries versions of files that #1038 has since fixed.

This head (774a9f0f4) sits on 091b91cb2 examples(mcap_record_replay): package under isaacteleop_examples and does not contain #1038's current head
887db467. The same holds all the way up the stack — #1047 also resolves to
091b91cb2.

So the three commits #1038 picked up on 2026-09-08 are absent here:

• 681bc222b — bind viser viewers to every interface by default
• 0981f53ff — filter replay auto-discovery by recording type
• 887db467f — ignore /recordings/ written from the repo root

Checkable on the two heads:

$ git show 774a9f0f4:examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_full_body.py | sed -n 66p
    candidates = list(recordings.glob("*.mcap"))

$ git show 887db467f:examples/mcap_record_replay/python/isaacteleop_examples/mcap_record_replay/replay_full_body.py | sed -n 66p
    candidates = list(recordings.glob("full_body_*.mcap")) or list(

$ git show 774a9f0f4:.gitignore | grep -c '^/recordings/'
0

Two consequences:

1. Merging up the stack without a rebase would revert those fixes — the
   type-prefixed auto-discovery in particular, which is the one that stops
   replay_full_body from picking a controllers_*.mcap.
2. Because the merge-base is old, this PR's diff currently renders as 50 files
   / +310 −137, most of which is the stale mcap_record_replay content rather
   than the teleop_ros2 change actually under review.

A rebase of #1039..#1047 onto the current #1038 head would clear both. I held
off reviewing the teleop_ros2 change itself for now, since the diff as shown
is not what would land — happy to pick it up once the base is current.

[ivany-nv]

Verdict: a rebase onto #1038's current head looks unavoidable. #1038 was rebased after this stack branched, and both merge orders now conflict on the same three files — including on the very fix #1038 added, where a careless resolution would quietly undo it.

Concrete evidence for the baseline point raised earlier. The stack's 091b91cb2 is not an ancestor of #1038's current head 887db467. It was replaced by f7b37f939, followed by three more commits — one of which, 0981f53ff "filter replay auto-discovery by recording type", is the fix for the defect reported in the #1038 review.

Both merge orders conflict, on the same three files (replay_controller.py, replay_full_body.py, replay_hand.py):

order	result
#1038 then stack	#1038 clean, stack 3 conflicts
stack then #1038	stack clean, #1038 3 conflicts

So sequencing alone will not avoid it. The part worth flagging: the conflict sits on the fix itself — a merged file holds both glob("full_body_*.mcap") or glob("*.mcap") and the older bare glob("*.mcap"), so whoever resolves it could revert the fix without noticing.

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Actionable comments posted: 1

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Inline comments:
In
`@examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/node_parameters.py`:
- Around line 235-237: The default asset-root logic near config_asset_root must
support wheel installs, where configs and assets are not available via
filesystem parent traversal. Package the required resources and resolve them
with importlib.resources, or use an explicit installed asset root, while
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📥 Commits

Reviewing files that changed from the base of the PR and between 857aa2d and 8a70c9a.

📒 Files selected for processing (29)

• .github/workflows/build-ubuntu.yml
• examples/teleop_ros2/AGENTS.md
• examples/teleop_ros2/CMakeLists.txt
• examples/teleop_ros2/Dockerfile
• examples/teleop_ros2/README.md
• examples/teleop_ros2/assets/urdf/sharpa_standalone/README.md
• examples/teleop_ros2/pyproject.toml
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/__init__.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/__main__.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/assets.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/constants.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/geometry.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/integration_tests/__init__.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/integration_tests/teleop_ros2_topic_verifier.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/messages.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/node_parameters.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/session_config.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_profiles.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_node.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/__init__.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/hand_tracking_gate_retargeter.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/teleop_ros2_retargeters/joint_name_alias_retargeter.py
• examples/teleop_ros2/python/isaacteleop_examples/teleop_ros2/tensor_group_helpers.py
• examples/teleop_ros2/python/pyproject.toml
• tests/python/examples/teleop_ros2/CMakeLists.txt
• tests/python/examples/teleop_ros2/conftest.py
• tests/python/examples/teleop_ros2/test_geometry.py
• tests/python/examples/teleop_ros2/test_messages.py
• tests/python/examples/teleop_ros2/test_teleop_profiles.py

💤 Files with no reviewable changes (1)

• examples/teleop_ros2/python/pyproject.toml

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