We report a high-field electron spin resonance study in the sub-THz frequency domain of a single crystal of Sr$_2$IrO$_4$ that has been recently proposed as a prototypical spin-orbital Mott insulator. In the antiferromagnetically (AFM) ordered state with noncollinear spin structure that occurs in this material at $T_{rm N} approx 240$ K we observe both the low frequency mode due to the precession of weak ferromagnetic moments arising from a spin canting, and the high frequency modes due to the precession of the AFM sublattices. Surprisingly, the energy gap for the AFM excitations appears to be very small, amounting to 0.83 meV only. This suggests a rather isotropic Heisenberg dynamics of interacting Ir$^{4+}$ effective spins despite the spin-orbital entanglement in the ground state.
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