ROS2 Publish Odometry

This node publishes odometry as a ROS2 Odometry message

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
nodeNamespace	string	Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace
odomFrameId	string	FrameId for ROS2 odometry message	odom
chassisFrameId	string	FrameId for robot chassis frame	base_link
topicName	string	Name of ROS2 Topic	odom
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
position	vectord[3]	Position vector in meters	[0.0, 0.0, 0.0]
orientation	quatd[4]	Orientation as a quaternion (IJKR)	[0.0, 0.0, 0.0, 1.0]
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]