ROS1 Publish Raw Transform Tree
This node publishes a user-defined transformation between any two coordinate frames as a ROS1 Transform Tree
Installation
To use this Node, you must enable omni.isaac.ros_bridge in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
|---|---|---|---|
execIn |
|
The input execution port |
|
nodeNamespace |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
parentFrameId |
|
Parent frameId for ROS1 TF message |
odom |
childFrameId |
|
Child frameId for ROS1 TF message |
base_link |
topicName |
|
Name of ROS1 Topic |
/tf |
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) |
|
ROS1 Timestamp in seconds |
0.0 |
translation |
|
Translation vector in meters |
[0.0, 0.0, 0.0] |
rotation |
|
Rotation as a quaternion (IJKR) |
[0.0, 0.0, 0.0, 1.0] |