ROS2 Subscribe Clock

This node subscribes to a ROS2 Clock message

Installation

To use this Node, you must enable omni.isaac.ros2_bridge 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

nodeNamespace

string

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

topicName

string

Name of ROS2 Topic

clock

queueSize

uint64

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

execution

Output execution triggers when a new message is received

timeStamp

double

Time in seconds