GXF Publish Differential Control State

This node publishes differential state messages to Isaac SDK

Installation

To use this Node, you must enable omni.isaac.gxf_bridge in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

context

uint64

GXF context handle, Default of zero will use the default global context

0

outputEntity

string

The name of the entity used to publish data

outputComponent

string

The name of the component used to publish data

poseFrame

string

FrameId for Atlas

robot

linearVelocity

vectord[3]

Linear velocity vector in m/s

[0.0, 0.0, 0.0]

linearAcceleration

vectord[3]

Linear acceleration vector in m/s^2

[0.0, 0.0, 0.0]

angularVelocity

vectord[3]

Angular velocity vector in rad/s

[0.0, 0.0, 0.0]

angularAcceleration

vectord[3]

Angular velocity vector in rad/s^2

[0.0, 0.0, 0.0]

robotFront

vectord[3]

Vector representing forward direction of robot

[1.0, 0.0, 0.0]

Outputs

Name

Type

Description

Default

execOut

execution

Output execution trigger