ROS2 Publish Camera Info

This node publishes camera info as a ROS2 CameraInfo message

Installation

To use this Node, you must enable omni.isaac.ros2_bridge-humble 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_camera
topicName	string	Name of ROS2 Topic	camera_info
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
width	uint	Width for output image
height	uint	Height for output image
focalLength	float
horizontalAperture	float
verticalAperture	float
horizontalOffset	float
verticalOffset	float
projectionType	token
stereoOffset	float[2]	Stereo offset (Tx, Ty) used when publishing the camera info topic	[0.0, 0.0]