ROS2 Publish Joint State

This node publishes joint states of a robot in ROS2 JointState message

Installation

To use this Node, you must enable omni.isaac.ros2_bridge-humble in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

context

uint64

ROS2 context handle, Default of zero will use the default global context

0

targetPrim

bundle

USD reference to the robot prim

nodeNamespace

string

Name of ROS2 Node, prepends any topic published/subscribed by the node name

topicName

string

Name of ROS2 Topic

joint_states

queueSize

uint64

The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent

10

Timestamp (timeStamp)

double

ROS2 Timestamp in seconds

0.0