ROS2 Publish Imu

This node publishes IMU data as a ROS2 IMU 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
frameId	string	FrameId for ROS2 message	sim_imu
topicName	string	Name of ROS2 Topic	imu
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
publishOrientation	bool	Include orientation in msg	True
publishLinearAcceleration	bool	Include Linear acceleration in msg	True
publishAngularVelocity	bool	Include Angular velocity in msg	True
orientation	quatd[4]	Orientation as a quaternion (IJKR)	[0.0, 0.0, 0.0, 1.0]
linearAcceleration	vectord[3]	Linear acceleration vector in m/s^2	[0.0, 0.0, 0.0]
angularVelocity	vectord[3]	Angular velocity vector in rad/s	[0.0, 0.0, 0.0]