REB Publish Differential State

This node publishes differential state messages to Isaac SDK

Installation

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

Inputs

Name	Type	Description	Default
execIn	execution	The input execution port
nodeName	string	The name of the SDK node to publish/receive from	interface
timeOffset	double	Time offset in nanoseconds to apply to published messages	0
outputComponent	string	The name of the component on which data is published	output
outputChannel	string	The name of the channel on which data is published	base_state
Timestamp (timeStamp)	double	REB Timestamp in seconds	0.0
linearVelocity	vectord[3]	Linear velocity vector in m/s	[0.0, 0.0, 0.0]
angularVelocity	vectord[3]	Angular velocity vector in rad/s	[0.0, 0.0, 0.0]
robotFront	vectord[3]	The front of the robot	[1.0, 0.0, 0.0]