Validate RTX lidar render product before camera lookup

source/extensions/isaacsim.ros2.nodes/python/nodes/OgnROS2RtxLidarHelper.py

@@ -244,7 +244,11 @@ 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:
+        if stage is None:
+            carb.log_warn("USD stage is not available yet, retrying on next call")
+            return False
+        render_product_prim = stage.GetPrimAtPath(render_product_path)
+        if not render_product_prim or not render_product_prim.IsValid():
             # Invalid Render Product Path
             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_lidar_helper_validation.py

@@ -0,0 +1,51 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Validation tests for ROS2RtxLidarHelper 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" / "OgnROS2RtxLidarHelper.py"
+SPEC = importlib.util.spec_from_file_location("_rtx_lidar_helper_validation", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MODULE)
+OgnROS2RtxLidarHelper = MODULE.OgnROS2RtxLidarHelper
+
+
+class TestROS2RtxLidarHelperValidation(omni.kit.test.AsyncTestCase):
+    """Verify missing stage/render products are rejected before camera lookup."""
+
+    @staticmethod
+    def _db() -> MagicMock:
+        db = MagicMock()
+        db.inputs.enabled = True
+        db.inputs.renderProductPath = "/Render/MissingProduct"
+        db.per_instance_state.initialized = False
+        return db
+
+    @patch.object(MODULE.ViewportManager, "get_camera")
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_stage_retries_before_camera_lookup(
+        self, mock_get_context: MagicMock, mock_get_camera: MagicMock
+    ) -> None:
+        db = self._db()
+        mock_get_context.return_value.get_stage.return_value = None
+
+        self.assertFalse(OgnROS2RtxLidarHelper.compute(db))
+        mock_get_camera.assert_not_called()
+
+    @patch.object(MODULE.ViewportManager, "get_camera")
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_render_product_retries_before_camera_lookup(
+        self, mock_get_context: MagicMock, mock_get_camera: MagicMock
+    ) -> None:
+        db = self._db()
+        mock_get_context.return_value.get_stage.return_value = Usd.Stage.CreateInMemory()
+
+        self.assertFalse(OgnROS2RtxLidarHelper.compute(db))
+        mock_get_camera.assert_not_called()