ROS2 Subscribe Twist
This node subscribes to a ROS2 Twist message
Installation
To use this Node, you must enable omni.isaac.ros2_bridge-humble in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
|---|---|---|---|
execIn |
|
The input execution port. |
|
context |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
nodeNamespace |
|
Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace |
|
topicName |
|
Name of ROS2 Topic |
cmd_vel |
queueSize |
|
The number of messages to queue up before throwing some away, in case messages are collected faster than they can be processed |
10 |
Outputs
Name |
Type |
Description |
Default |
|---|---|---|---|
execOut |
|
Output execution triggers when a new message is received |
|
linearVelocity |
|
Linear velocity vector in m/s |
[0.0, 0.0, 0.0] |
angularVelocity |
|
Angular velocity vector in rad/s |
[0.0, 0.0, 0.0] |