ROS2 Publish Transform Tree

This node publishes the pose of prims as a ROS2 Transform Tree

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

parentPrim

bundle

Prim used as parent frame for poses, leave blank to use World

targetPrims

bundle

Target prims to publish poses for, if prim is an articulation, the entire articulation tree will be published

nodeNamespace

string

Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace

topicName

string

Name of ROS2 Topic

tf

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