IsaacSim 安装与使用记录（8）基于ROS2 Python自定义OmniGraph Node打开Isaac Sim VS Code Edition（VS Code extension）配置生成的OmniGraph Node编辑extension.toml编辑OmniGraph定义文件CategoryDefinition.json编辑OmniGraph Python源码自定义控制器使用自定义的OmniGraph Node基于ROS2 Python自定义OmniGraph Node官网示例：ROS 2 Python Custom OmniGraph Node打开Isaac Sim VS Code Edition（VS Code extension）打开Omniverse Extension其中红色框是必填项：点击“Create”，会在低下弹出：The extension was successfully created!生成的文件路径是在isaacsim/extsUser配置生成的OmniGraph Node编辑extension.toml在[dependencies]下添加Isaac Sim的ROS2 Bridge扩展extension.toml 是 Isaac Sim 扩展系统中的核心配置文件，用于定义扩展的基本信息、依赖关系、Python 路径和其他重要设置。它是每个扩展的"身份证"，告诉 Isaac Sim 如何识别、加载和管理该扩展。扩展元数据定义：提供扩展的名称、版本、描述等基本信息依赖管理：指定扩展所依赖的其他扩展Python 路径配置：设置 Python 模块的搜索路径，确保扩展中的 Python 代码可以被正确导入OGN 节点配置：指定 OGN（OmniGraph Node）文件的路径，使自定义节点能够被 Action Graph 识编辑OmniGraph定义文件.ogn文件的官方句法指导文档：Generating OmniGraph Nodes官网示例：{"CustomPythonRos2NodePy":{"version":1,"language":"python","icon":"icons/icon.svg","uiName":"Custom Python ROS 2 Node","description":["This node subscribes to a ROS 2 topic (with message type 'std_msgs/msg/Int32') and computes and outputs the Fibonacci number"],"categoryDefinitions":"config/CategoryDefinition.json","categories":["extension:Category"],"inputs":{"execIn":{"type":"execution","description":"Input execution trigger"},"topic":{"type":"string","uiName":"Subscription topic","description":"Topic to subscribe to","default":"/number"}},"outputs":{"execOut":{"type":"execution","description":"Output execution trigger"},"fibonacci":{"type":"uint64","uiName":"Fibonacci","description":"Computed Fibonacci number