ROS2 Publish Odometry

This node publishes odometry as a ROS2 Odometry 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

odomFrameId

string

FrameId for ROS2 odometry message

odom

chassisFrameId

string

FrameId for robot chassis frame

base_link

topicName

string

Name of ROS2 Topic

odom

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

position

vectord[3]

Position vector in meters

[0.0, 0.0, 0.0]

orientation

quatd[4]

Orientation as a quaternion (IJKR)

[0.0, 0.0, 0.0, 1.0]

linearVelocity

vectord[3]

Linear velocity vector in m/s

[0.0, 0.0, 0.0]

angularVelocity

vectord[3]

Angular velocity vector in rad/s

[0.0, 0.0, 0.0]

robotFront

vectord[3]

The front of the robot

[1.0, 0.0, 0.0]