ROS2 Simulation Control#

Learning Objectives#

In this page, you will learn how to:

Understand the ROS 2 Simulation Control extension for Isaac Sim
Control Isaac Sim simulations using ROS 2 services and actions
Manipulate simulation entities and worlds using ROS 2 interfaces
Step through simulations programmatically

Getting Started#

Prerequisite

Complete ROS 2 Installation (Default).
If using multiple systems, set the FASTRTPS_DEFAULT_PROFILES_FILE environment variable as per instructions in ROS 2 Installation (Default) before launching Isaac Sim, as well as any terminal where ROS messages will be sent or received, and ROS2 Extension is enabled.
Isaac Sim 5.0 or later
ROS 2 (Humble or later)
Install Simulation Interfaces package using:
Humble
sudo apt install ros-humble-simulation-interfaces
Jazzy
sudo apt install ros-jazzy-simulation-interfaces
For reference, see the source code for the Simulation Interfaces package here.

Note

This extension targets simulation_interfaces 1.5.0 or newer. If a service or SimulatorFeatures constant is missing from the installed package, the corresponding service skips registration and the feature is omitted from the GetSimulatorFeatures response — startup will log a warning naming the unavailable type.

RoboStack Jazzy (used by the pixi-based ROS 2 workspaces) currently ships simulation_interfaces 1.2.0 which does not include SpawnEntities. simulation_interfaces 1.5.0+ adds SpawnEntities and is expected to land in RoboStack Jazzy soon. Until then, that service will be unavailable on pixi/jazzy workspaces.

Overview#

The ROS 2 Simulation Control extension uses the ROS 2 Simulation Interfaces to control Isaac Sim functions. This extension is designed to be scalable, allowing multiple services and actions to run simultaneously with little performance overhead.

The extension provides comprehensive control over Isaac Sim through ROS 2 services and actions, including:

Simulation State Control: Play, pause, stop, and step through simulations
Entity Management: Spawn, delete, and manipulate simulation entities (prims)
World Management: Load, unload, and query simulation worlds (USD files)
State Querying: Get information about entities, simulation state, and available resources

This allows you to control Isaac Sim programmatically or through the ROS 2 command line interface using the Simulation Interfaces package to enable workflows like automated testing. This page lists and provides example commands for all of the services and actions from Simulation Interfaces supported by Isaac Sim.

Enabling the Extension#

Enable Automatically#

Open Isaac Sim from the terminal with the following command:

./isaac-sim.sh --/isaac/startup/ros_sim_control_extension=True

Enable Manually#

Open Isaac Sim
Enable the extension from the Extension Manager: isaacsim.ros2.sim_control

Available Services and Actions#

The extension provides the following ROS 2 services:

/get_simulator_features: Lists the supported features in this Isaac Sim implementation
/set_simulation_state: Set simulation to specific state (stopped/playing/paused/quitting)
/get_simulation_state: Get current simulation state
/get_entities: Get list of all entities (prims) in the simulation
/get_entity_info: Get detailed information about a specific entity (currently returns OBJECT category type)
/get_entity_state: Get the pose, twist, and acceleration of a specific entity
/get_entities_states: Get the states (pose, twist, acceleration) of multiple entities with filtering
/delete_entity: Delete a specific entity (prim) from the simulation
/spawn_entity: Spawn a new entity into the simulation at a specified location (deprecated — use /spawn_entities instead)
/reset_simulation: Reset the simulation environment to its initial state
/set_entity_state: Sets the state (pose, twist) of a specific entity in the simulation
/step_simulation: Step the simulation forward by a specific number of frames
/load_world: Load a world or environment file into the simulation
/unload_world: Unload the current world and create an empty stage
/get_current_world: Get information about the currently loaded world
/get_available_worlds: Get a list of available world files that can be loaded
/spawn_entities: Batch spawn multiple entities in a single request (requires simulation_interfaces >= 1.4.0 on Humble, >= 1.5.0 on Jazzy)
/get_entity_bounds: Get the world-space axis-aligned bounding box of an entity
/get_spawnables: Discover available USD assets that can be spawned

And the following ROS 2 actions:

/simulate_steps: Action for stepping the simulation with progress feedback

Using the ROS 2 Simulation Control Services#

This section describes how to use each of the available services in detail.

GetSimulatorFeatures Service#

The GetSimulatorFeatures service lists the subset of services and actions supported by Isaac Sim from simulation_interfaces.

ros2 service call /get_simulator_features simulation_interfaces/srv/GetSimulatorFeatures

Notes:

Returns a list of supported features (for example, SPAWNING, DELETING, ENTITY_STATE_GETTING)
Reports USD file format support using the spawn_formats field
Provides custom_info with details about the implementation
See the full list of simulator features

SetSimulationState Service#

The SetSimulationState service updates the global state of the simulation (stopped/playing/paused/quitting) corresponding to enums defined in SimulationState.msg (STATE_STOPPED, STATE_PLAYING, STATE_PAUSED, STATE_QUITTING).

To set simulation state to playing:

ros2 service call /set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 1}}"  # 1=playing

To set simulation state to paused:

ros2 service call /set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 2}}"  # 2=paused

To set simulation state to stopped:

ros2 service call /set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 0}}"  # 0=stopped

To quit the simulator:

ros2 service call /set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 3}}"  # 3=quit

Notes:

State 0 (Stopped) is equivalent to pausing and resetting the simulation
State 1 (Playing) starts the simulation timeline
State 2 (Paused) pauses the simulation at the current time
State 3 (Quitting) shuts down Isaac Sim

GetSimulationState Service#

The GetSimulationState service retrieves the current state of the entire simulation (stopped/playing/paused/quitting) corresponding to enums defined in SimulationState.msg (STATE_STOPPED, STATE_PLAYING, STATE_PAUSED, STATE_QUITTING).

ros2 service call /get_simulation_state simulation_interfaces/srv/GetSimulationState

Notes:

Returns state 0 for stopped, 1 for playing, 2 for paused
Used to query the simulation state before performing operations like stepping

GetEntities Service#

The GetEntities service retrieves a list of all entities present in the simulation with optional filtering (using regex pattern).

Get all entities in the simulation:

ros2 service call /get_entities simulation_interfaces/srv/GetEntities "{filters: {filter: ''}}"

Get entities with full paths or partial paths. In this case filter for prims containing ‘camera’ in the path:
```
ros2 service call /get_entities simulation_interfaces/srv/GetEntities "{filters: {filter: 'camera'}}"
```

Get entities with paths starting with ‘/World’:

ros2 service call /get_entities simulation_interfaces/srv/GetEntities "{filters: {filter: '^/World'}}"

Get entities with paths ending with ‘mesh’:

ros2 service call /get_entities simulation_interfaces/srv/GetEntities "{filters: {filter: 'mesh$'}}"

Notes:

The filter parameter accepts POSIX Extended regular expressions for matching entity names (prim paths)
Isaac Sim uses the full USD prim paths as entity names

GetEntityInfo Service#

The GetEntityInfo service provides detailed information about a specific entity, such as its type and properties.

ros2 service call /get_entity_info simulation_interfaces/srv/GetEntityInfo "{entity: '/World/robot'}"

Notes:

Returns RESULT_OK with EntityInfo if the entity exists
Returns RESULT_OPERATION_FAILED if the entity doesn’t exist
The EntityInfo contains: * category: Currently always set to OBJECT (EntityCategory.OBJECT) * description: Empty string (reserved for future use) * tags: Empty array (reserved for future use)

GetEntityState Service#

The GetEntityState service gets the pose, twist, acceleration of a specific entity relative to a given reference frame. Currently only world frames are supported.

ros2 service call /get_entity_state simulation_interfaces/srv/GetEntityState "{entity: '/World/robot'}"

Notes:

For entities with RigidBodyAPI, both pose and velocities will be returned
For entities without RigidBodyAPI, only pose will be returned with zero velocities
Acceleration values are always reported as zero (not provided by the current API)
Returns RESULT_OK if successfully retrieved entity state
Returns RESULT_NOT_FOUND if entity does not exist
Returns RESULT_OPERATION_FAILED if error retrieving entity state

GetEntitiesStates Service#

The GetEntitiesStates service fetches the states (pose, twist, acceleration) in the world frame of multiple entities in the simulation.

Get states for all entities in the simulation:

ros2 service call /get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: ''}}"

Get states for entities containing ‘robot’ in their path:

ros2 service call /get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: 'robot'}}"

Get states for entities with paths starting with ‘/World’:

ros2 service call /get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: '^/World'}}"

Notes:

Combines functionality from GetEntities and GetEntityState services
Filters entities first using regex pattern matching
Retrieves state for each filtered entity
Returns list of entity paths and corresponding states
For entities with RigidBodyAPI, both pose and velocities will be returned
For entities without RigidBodyAPI, only pose will be returned with zero velocities
Acceleration values are always reported as zero (not provided by the current API)
Using this service is more efficient than making multiple GetEntityState calls when you need states for many entities
Returns RESULT_OK if successfully retrieved entity states
Returns RESULT_OPERATION_FAILED if error in filtering or retrieving states

DeleteEntity Service#

The DeleteEntity service deletes a specified entity in the simulation.

ros2 service call /delete_entity simulation_interfaces/srv/DeleteEntity "{entity: '/World/robot'}"

Notes:

The service will return RESULT_OK if the entity was successfully deleted
Returns RESULT_OPERATION_FAILED if the entity is protected and cannot be deleted
Uses prim_utils.is_prim_no_delete() to check if a prim can be deleted before attempting deletion

GetSpawnables Service#

The GetSpawnables service discovers USD assets available for spawning. By default it searches /Isaac/Samples/ROS2/Robots in the Isaac assets root path. You can supply additional custom search paths using the sources field.

List all default spawnables:

ros2 service call /get_spawnables simulation_interfaces/srv/GetSpawnables

List spawnables from an additional local path:

ros2 service call /get_spawnables simulation_interfaces/srv/GetSpawnables "{sources: ['/home/user/custom_robots']}"

List spawnables from multiple sources:

ros2 service call /get_spawnables simulation_interfaces/srv/GetSpawnables "{sources: ['/home/user/robots', '/opt/isaac_assets/robots']}"

Notes:

Default search path is /Isaac/Samples/ROS2/Robots (searched to a depth of 2)
Additional paths in sources are searched recursively (unlimited depth)
Each result is a Spawnable with uri (full asset URI), description (filename without extension), and empty spawn_bounds
Returns RESULT_OPERATION_FAILED if no asset root path is available and no sources are provided

Note

Windows users (including WSL): When providing paths in sources, use native Windows paths (for example, C:/Users/foo/robots). WSL-style paths such as /mnt/c/Users/foo/robots are not accessible to the Isaac Sim Windows process and will return no results.

SpawnEntity Service#

Warning

Deprecated. Use the /spawn_entities service instead. SpawnEntities supports batch operations and per-entity error reporting, making it suitable for both single and multi-entity workflows.

SpawnEntities Service#

The SpawnEntities service spawns multiple entities in a single request. Each entry in spawn_requests follows the SpawnEntity.msg format and is processed independently. Per-entity success or failure is reported in the results list.

Note

This service requires simulation_interfaces >= 1.4.0 on ROS 2 Humble and >= 1.5.0 on ROS 2 Jazzy.

Spawn two entities at specific positions:

ros2 service call /spawn_entities simulation_interfaces/srv/SpawnEntities "{
  spawn_requests: [
    {
      name: 'Robot1',
      allow_renaming: false,
      entity_resource: {uri: '/path/to/robot.usd'},
      initial_pose: {pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {w: 1.0, x: 0.0, y: 0.0, z: 0.0}}}
    },
    {
      name: 'Robot2',
      allow_renaming: true,
      entity_resource: {uri: '/path/to/robot.usd'},
      initial_pose: {pose: {position: {x: 2.0, y: 0.0, z: 0.0}, orientation: {w: 1.0, x: 0.0, y: 0.0, z: 0.0}}}
    }
  ]
}"

Notes:

Each entry in spawn_requests uses the entity_resource.uri field (not the flat uri field used by SpawnEntity)
Per-entity results are returned in the results list; check each SpawnResult for individual success or failure
The aggregate result field is set to ENTITIES_SPAWN_FAILED if any individual spawn fails
All other SpawnEntity rules apply to each entry (auto-renaming, simulationInterfacesSpawned tagging, etc.)

GetEntityBounds Service#

The GetEntityBounds service computes and returns the world-space axis-aligned bounding box (AABB) of an entity.

ros2 service call /get_entity_bounds simulation_interfaces/srv/GetEntityBounds "{entity: '/World/Cube'}"

Notes:

Returns a Bounds message with type=TYPE_BOX and two points: the minimum corner and the maximum corner of the AABB
Bounding box is computed at the default USD time code and includes only prims with the default purpose
Returns RESULT_NOT_FOUND if the entity does not exist
Returns RESULT_OPERATION_FAILED if the bounds computation fails

ResetSimulation Service#

The ResetSimulation service resets the simulation environment to its initial state.

ros2 service call /reset_simulation simulation_interfaces/srv/ResetSimulation

Notes:

Stops the simulation timeline
Finds and removes all prims with simulationInterfacesSpawned attribute
Uses multiple passes to ensure all spawned entities are removed
Restarts the simulation timeline
Returns RESULT_OK if successfully reset
Returns RESULT_OPERATION_FAILED if error resetting simulation

SetEntityState Service#

The SetEntityState service sets the state (pose, twist) of a specific entity in the simulation. Only transforms in the world frame are currently accepted.

Set only position and orientation:

ros2 service call /set_entity_state simulation_interfaces/srv/SetEntityState "{
  entity: '/World/Cube',
  state: {
    header: {frame_id: 'world'},
    pose: {
      position: {x: 1.0, y: 2.0, z: 3.0},
      orientation: {w: 1.0, x: 0.0, y: 0.0, z: 0.0}
    },
    twist: {
      linear: {x: 0.0, y: 0.0, z: 0.0},
      angular: {x: 0.0, y: 0.0, z: 0.0}
    }
  }
}"

Set position, orientation and velocity (for entities with rigid body physics):

ros2 service call /set_entity_state simulation_interfaces/srv/SetEntityState "{
  entity: '/World/RigidBody',
  state: {
    header: {frame_id: 'world'},
    pose: {
      position: {x: 1.0, y: 2.0, z: 3.0},
      orientation: {w: 1.0, x: 0.0, y: 0.0, z: 0.0}
    },
    twist: {
      linear: {x: 0.5, y: 0.0, z: 0.0},
      angular: {x: 0.0, y: 0.0, z: 0.1}
    }
  }
}"

Notes:

The position and orientation are always updated for any entity
Velocities are only set for entities with a RigidBodyAPI
For non-rigid bodies, only position and orientation will be set (velocity settings are ignored)
Acceleration settings are not currently supported and will be ignored
Returns RESULT_OK if successfully set entity state
Returns RESULT_NOT_FOUND if entity does not exist
Returns RESULT_OPERATION_FAILED if error setting entity state

StepSimulation Service#

The StepSimulation service simulates a finite number of steps and returns to PAUSED state.

Step the simulation by 1 frame (note: will use 2 steps internally):

ros2 service call /step_simulation simulation_interfaces/srv/StepSimulation "{steps: 1}"

Step the simulation by 10 frames:

ros2 service call /step_simulation simulation_interfaces/srv/StepSimulation "{steps: 10}"

Step the simulation by 100 frames:

ros2 service call /step_simulation simulation_interfaces/srv/StepSimulation "{steps: 100}"

Notes:

The simulation must be in a paused state before stepping can be performed
The service call will block until all steps are completed
After stepping completes, the simulation will automatically return to a paused state
Returns RESULT_OK if stepping completed successfully
Returns RESULT_INCORRECT_STATE if the simulation is not paused when the service is called
Returns RESULT_OPERATION_FAILED if any error occurs during stepping

LoadWorld Service#

The LoadWorld service loads a world or environment file into the simulation, clearing the current scene and setting the simulation to stopped state. Currently supports USD format worlds.

Load a world from a USD file:

ros2 service call /load_world simulation_interfaces/srv/LoadWorld "{uri: '/path/to/world.usd'}"

Load a sample world with Isaac Sim sample environments:

ros2 service call /load_world simulation_interfaces/srv/LoadWorld "{uri: 'https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Simple_Room/simple_room.usd'}"

Load a sample world with a ROS2 scenario:

ros2 service call /load_world simulation_interfaces/srv/LoadWorld "{uri: 'https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_apriltags_worker.usd'}"

Notes:

Only USD files (.usd, .usda, .usdc, .usdz) are supported
The simulation must be stopped or paused before loading a world (not playing)
Loading a world will clear the current scene and create a new stage from the USD file
If the given path cannot be found directly, Isaac Sim will automatically try prefixing it with the default asset root path
Returns RESULT_OK if the world was successfully loaded
Returns UNSUPPORTED_FORMAT if the file format is not supported
Returns RESOURCE_PARSE_ERROR if the USD file cannot be parsed or loaded
Returns RESULT_OPERATION_FAILED if the simulation is playing when the service is called

UnloadWorld Service#

The UnloadWorld service unloads the current world from the simulation, clearing the current scene and creating a new empty stage. Any previously spawned entities will be removed.

ros2 service call /unload_world simulation_interfaces/srv/UnloadWorld

Notes:

The simulation must be stopped or paused before unloading a world (not playing)
Creates a new empty stage after unloading the current world
Returns RESULT_OK if the world was successfully unloaded
Returns NO_WORLD_LOADED if no world is currently loaded
Returns RESULT_OPERATION_FAILED if the simulation is playing when the service is called

GetCurrentWorld Service#

The GetCurrentWorld service returns information about the currently loaded world, including its URI, name, and format.

ros2 service call /get_current_world simulation_interfaces/srv/GetCurrentWorld

Notes:

Returns world information including URI and name if a world is loaded from a file
For worlds created in memory (new stage), returns empty URI and “untitled_world” as the name
Returns RESULT_OK with world information if successful
Returns NO_WORLD_LOADED if no world is currently loaded

GetAvailableWorlds Service#

The GetAvailableWorlds service returns a list of available world files that can be loaded into the simulation. It searches default Isaac Sim paths for USD world files, with support for TagsFilter-based filtering.

Get all default available worlds:

ros2 service call /get_available_worlds simulation_interfaces/srv/GetAvailableWorlds

Get worlds with tag filtering (search for default worlds with specific tags in filename):

ros2 service call /get_available_worlds simulation_interfaces/srv/GetAvailableWorlds "{filter: {tags: ['warehouse', 'carter']}, continue_on_error: true}"

Search additional custom paths:

ros2 service call /get_available_worlds simulation_interfaces/srv/GetAvailableWorlds "{additional_sources: ['/custom/worlds/path'], continue_on_error: true}"

Offline-only search with additional local sources:

ros2 service call /get_available_worlds simulation_interfaces/srv/GetAvailableWorlds "{additional_sources: ['/home/user/custom_worlds', '/opt/isaac_worlds'], offline_only: true, continue_on_error: true}"

Notes:

Searches default Isaac Sim paths: /Isaac/Environments and /Isaac/Samples/ROS2/Scenario
Supports TagsFilter with FILTER_MODE_ANY (default) or FILTER_MODE_ALL for tag matching
Can search additional custom paths specified in additional_sources
Set offline_only: true to only search local filesystem paths
Set continue_on_error: true to continue searching even if some paths fail
Returns RESULT_OK with list of available worlds
Returns DEFAULT_SOURCES_FAILED if default asset paths are not accessible and no additional sources are provided

Note

Windows users (including WSL): When providing paths in additional_sources, use native Windows paths (for example, C:/Users/foo/worlds). WSL-style paths such as /mnt/c/Users/foo/worlds are not accessible to the Isaac Sim Windows process and will return no results.

Using the ROS 2 Simulation Control Actions#

SimulateSteps Action#

The SimulateSteps action simulates a finite number of steps and returns to PAUSED state with feedback after each step.

Basic usage - Step the simulation by 10 frames:

ros2 action send_goal /simulate_steps simulation_interfaces/action/SimulateSteps "{steps: 10}"

With feedback - Step the simulation by 20 frames and show feedback:

ros2 action send_goal /simulate_steps simulation_interfaces/action/SimulateSteps "{steps: 20}" --feedback

Notes:

The simulation must be in a paused state before stepping can be performed
After steps are completed, the simulation will return to a paused state
You will receive feedback after each step showing completed and remaining steps
The action can be canceled while executing

Technical Details#

The extension uses the omni.timeline interface to control the simulation state and provides a clean ROS 2 interface through standard services. The implementation includes:

A singleton ROS2ServiceManager to handle all ROS 2 services through a single node
A SimulationControl class that interfaces with Isaac Sim’s timeline
Thread-safe implementation for ROS 2 spinning independent of Action Graph interface

Extending#

To add more simulation control services, extend the SimulationControl class and register additional services with the ROS2ServiceManager.

Summary#

This page covered:

The ROS 2 Simulation Control extension and its capabilities
How to enable the extension in Isaac Sim
Using ROS 2 services to control simulation state (play, pause, stop)
Manipulating entities in the simulation (spawn, batch spawn, delete, get/set state, get info, get bounds)
Discovering spawnable assets and available worlds
Managing simulation worlds (load, unload, query available worlds)
Using ROS 2 actions for simulation stepping with feedback
Technical implementation details of the extension