Validate ROS2 CameraInfo render products before setup

source/extensions/isaacsim.ros2.nodes/python/nodes/OgnROS2CameraInfoHelper.py

@@ -304,6 +304,10 @@ def compute(db: Any) -> bool:
         render_product_path_right = db.inputs.renderProductPathRight
 
         stage = omni.usd.get_context().get_stage()
+        if stage is None:
+            carb.log_warn("USD stage is not available yet, retrying on next call")
+            return False
+
         use_srtx = carb.settings.get_settings().get_as_bool(USE_SRTX_SETTING)
         if use_srtx and not validate_srtx_platform():
             return False
@@ -313,12 +317,14 @@ def compute(db: Any) -> bool:
             if not render_product_path:
                 carb.log_warn(f"Render product '{render_product_path}' not valid")
                 return False
-            if stage.GetPrimAtPath(render_product_path) is None:
+            render_product_prim = stage.GetPrimAtPath(render_product_path)
+            if not render_product_prim or not render_product_prim.IsValid():
                 carb.log_warn(f"Render product '{render_product_path}' not created yet, retrying on next call")
                 return False
             if render_product_path_right:
                 is_stereo = True
-                if stage.GetPrimAtPath(render_product_path_right) is None:
+                render_product_prim_right = stage.GetPrimAtPath(render_product_path_right)
+                if not render_product_prim_right or not render_product_prim_right.IsValid():
                     carb.log_warn(
                         f"Render product '{render_product_path_right}' not created yet, retrying on next call"
                     )

source/extensions/isaacsim.ros2.nodes/python/tests/test_camera_info_helper_validation.py

@@ -0,0 +1,67 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Validation tests for ROS2CameraInfoHelper prerequisites."""
+
+import importlib.util
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+import omni.kit.test
+from pxr import Usd
+
+MODULE_PATH = Path(__file__).resolve().parents[1] / "nodes" / "OgnROS2CameraInfoHelper.py"
+SPEC = importlib.util.spec_from_file_location("_camera_info_helper_validation", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MODULE)
+OgnROS2CameraInfoHelper = MODULE.OgnROS2CameraInfoHelper
+
+
+class TestROS2CameraInfoHelperValidation(omni.kit.test.AsyncTestCase):
+    """Verify missing stage/render products are handled as retryable prerequisites."""
+
+    @staticmethod
+    def _db() -> MagicMock:
+        db = MagicMock()
+        db.inputs.enabled = True
+        db.inputs.renderProductPath = "/Render/Left"
+        db.inputs.renderProductPathRight = ""
+        db.per_instance_state.initialized = False
+        return db
+
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_stage_returns_false(self, mock_get_context: MagicMock) -> None:
+        db = self._db()
+        mock_get_context.return_value.get_stage.return_value = None
+
+        self.assertFalse(OgnROS2CameraInfoHelper.compute(db))
+
+    @patch.object(MODULE, "read_camera_info")
+    @patch.object(MODULE.carb.settings, "get_settings")
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_left_render_product_retries_before_camera_info(
+        self, mock_get_context: MagicMock, mock_get_settings: MagicMock, mock_read_camera_info: MagicMock
+    ) -> None:
+        db = self._db()
+        stage = Usd.Stage.CreateInMemory()
+        mock_get_context.return_value.get_stage.return_value = stage
+        mock_get_settings.return_value.get_as_bool.return_value = False
+
+        self.assertFalse(OgnROS2CameraInfoHelper.compute(db))
+        mock_read_camera_info.assert_not_called()
+
+    @patch.object(MODULE, "read_camera_info")
+    @patch.object(MODULE.carb.settings, "get_settings")
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_right_render_product_retries_before_camera_info(
+        self, mock_get_context: MagicMock, mock_get_settings: MagicMock, mock_read_camera_info: MagicMock
+    ) -> None:
+        db = self._db()
+        db.inputs.renderProductPathRight = "/Render/Right"
+        stage = Usd.Stage.CreateInMemory()
+        stage.DefinePrim("/Render/Left")
+        mock_get_context.return_value.get_stage.return_value = stage
+        mock_get_settings.return_value.get_as_bool.return_value = False
+
+        self.assertFalse(OgnROS2CameraInfoHelper.compute(db))
+        mock_read_camera_info.assert_not_called()