ROS1 Camera Helper

This node handles automation of the camera sensor pipeline

Installation

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

Inputs

Name	Type	Description	Default
execIn	execution	Triggering this causes the sensor pipeline to be generated
nodeNamespace	string	Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace
frameId	string	FrameId for ROS1 message	sim_camera
topicName	string	Topic name for sensor data	rgb
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
viewport	token	DEPRECATED, use renderProductPath. Name of the desired viewport to publish
renderProductPath	token	Path of the render product used for capturing data
type	token		rgb
enableSemanticLabels	bool	Enable publishing of semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d
semanticLabelsTopicName	string	Topic name used for publishing semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d	semantic_labels
stereoOffset	float[2]	Stereo offset (Tx, Ty) used when publishing the camera info topic	[0, 0]