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 |
|
The input execution port |
|
context |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
targetPrim |
|
USD reference to the robot prim |
|
nodeNamespace |
|
Name of ROS2 Node, prepends any topic published/subscribed by the node name |
|
topicName |
|
Name of ROS2 Topic |
joint_states |
queueSize |
|
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) |
|
ROS2 Timestamp in seconds |
0.0 |