ROS2 Publish Raw Transform Tree

This node publishes a user-defined transformation between any two coordinate frames as a ROS2 Transform Tree

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
parentFrameId	string	Parent frameId for ROS2 TF message	odom
childFrameId	string	Child frameId for ROS2 TF message	base_link
topicName	string	Name of ROS2 Topic	tf
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
translation	vectord[3]	Translation vector in meters	[0.0, 0.0, 0.0]
rotation	quatd[4]	Rotation as a quaternion (IJKR)	[0.0, 0.0, 0.0, 1.0]