Custom ROS2ContactPublisher node not appearing in Action Graph (Isaac Sim 5.1.0) Describe the bug

[happydrones]

Environment

• OS: Ubuntu 22.04
• Isaac Sim Version: 5.1.0
• ROS Version: ROS2 Humble
• GPU: RTX 4060

https://github.com/caiobarrosv/ur5_isaac_simulation?tab=readme-ov-file#3-installation
After following the installation steps and adding the extension path (exts/exts), the ur5sim.ros2contactpublisher extension is enabled in the Extension Manager, but the ROS2ContactPublisher node does not appear in the Action Graph. The logs show a warning that the node type interface cannot be found.

To Reproduce
Steps to reproduce the behavior:

1. Clone the repository and add /path/to/ur5_isaac_simulation/exts/exts to Isaac Sim Extension Search Paths.
2. Enable ur5sim.ros2contactpublisher and check AUTOLOAD.
3. Open usd/ur5_isaac_sim.usd.
4. Check the Action Graph; the ROS2ContactPublisher node is missing or shows a "Could not find node type" error.

Logs / Screenshots
The following error appears in the console:

[Warning] [omni.graph.core.plugin] Could not find node type interface for 'Ur5simRos2contactpublisherExtension.ROS2ContactPublisher'

Attempting to manually regenerate the OGN database via python.sh fails with:

ModuleNotFoundError: No module named 'omni'

Additional context
The extension.toml defines the module as ur5sim.ros2contactpublisher, but the system seems to be looking for Ur5simRos2contactpublisherExtension. It appears there is a namespace mismatch or the OGN database is not being correctly generated/linked during the extension startup in Isaac Sim 5.1.0.