ROS2 Publish Image

This node publishes ROS2 Image messages

Installation

To use this Node, you must enable omni.isaac.ros2_bridge 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

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

timeStamp

double

Time in seconds to use when publishing the message

0.0

data

uchar[]

Buffer array data

[]

width

uint

Buffer array width

0

height

uint

Buffer array height

0

encoding

token

ROS encoding format for the input data, taken from the list of strings in include/sensor_msgs/image_encodings.h. Input data is expected to already be in this format, no conversions are performed

rgb8