Fix ROS2 RTX radar helper lifecycle guards

source/extensions/isaacsim.ros2.nodes/python/nodes/OgnROS2RtxRadarHelper.py

@@ -69,18 +69,21 @@ def compute(db: Any) -> bool:
         """
         state = db.per_instance_state
 
-        if state.initialized:
+        if not db.inputs.enabled:
+            if state.initialized:
+                state.custom_reset()
             return True
 
-        if not db.inputs.enabled:
+        if state.initialized:
             return True
 
         stage = omni.usd.get_context().get_stage()
         render_product_path = db.inputs.renderProductPath
         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
 

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

@@ -0,0 +1,49 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Tests for ROS2 RTX radar helper lifecycle validation."""
+
+import importlib.util
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+import omni.kit.test
+
+RADAR_HELPER_PATH = Path(__file__).resolve().parents[1] / "nodes" / "OgnROS2RtxRadarHelper.py"
+_spec = importlib.util.spec_from_file_location("_test_ros2_rtx_radar_helper", RADAR_HELPER_PATH)
+_radar_helper = importlib.util.module_from_spec(_spec)
+_spec.loader.exec_module(_radar_helper)
+OgnROS2RtxRadarHelper = _radar_helper.OgnROS2RtxRadarHelper
+
+
+class TestROS2RtxRadarHelperValidation(omni.kit.test.AsyncTestCase):
+    """Validate early lifecycle and render-product guards."""
+
+    async def test_disabling_initialized_helper_resets_state(self) -> None:
+        """Disabling an active helper must detach/reset its writer state."""
+        db = MagicMock()
+        db.inputs.enabled = False
+        db.per_instance_state.initialized = True
+
+        self.assertTrue(OgnROS2RtxRadarHelper.compute(db))
+
+        db.per_instance_state.custom_reset.assert_called_once_with()
+
+    async def test_missing_render_product_retries_before_camera_lookup(self) -> None:
+        """An invalid USD prim should be rejected before resolving the radar camera."""
+        db = MagicMock()
+        db.inputs.enabled = True
+        db.inputs.renderProductPath = "/Render/MissingProduct"
+        db.per_instance_state.initialized = False
+
+        invalid_prim = MagicMock()
+        invalid_prim.IsValid.return_value = False
+
+        with patch.object(_radar_helper.omni.usd, "get_context") as mock_get_context, patch.object(
+            _radar_helper.ViewportManager, "get_camera"
+        ) as mock_get_camera:
+            mock_get_context.return_value.get_stage.return_value.GetPrimAtPath.return_value = invalid_prim
+
+            self.assertFalse(OgnROS2RtxRadarHelper.compute(db))
+
+            mock_get_camera.assert_not_called()