ROS2 Subscribe Joint State
This node subscribes to a joint state command of a robot in a ROS2 JointState message
Installation
To use this Node, you must enable omni.isaac.ros2_bridge-humble in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
|---|---|---|---|
execIn |
|
The input execution port |
|
context |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
nodeNamespace |
|
Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace |
|
topicName |
|
Name of ROS2 Topic |
joint_command |
queueSize |
|
The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent |
10 |
Outputs
Name |
Type |
Description |
Default |
|---|---|---|---|
execOut |
|
Output execution triggers when a new message is received |
|
Timestamp (timeStamp) |
|
ROS2 Timestamp in seconds |
0.0 |
jointNames |
|
Commanded joint names |
|
positionCommand |
|
Position commands |
|
velocityCommand |
|
Velocity commands |
|
effortCommand |
|
Effort commands |