ROS2 Camera Helper

This node handles automation of the camera sensor pipeline

Installation

To use this Node, you must enable omni.isaac.ros2_bridge-humble in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

Triggering this causes the sensor pipeline to be generated

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_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]