ROS2 Publish Imu

This node publishes IMU data as a ROS2 IMU message

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_imu

topicName

string

Name of ROS2 Topic

imu

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

publishOrientation

bool

Include orientation in msg

True

publishLinearAcceleration

bool

Include Linear acceleration in msg

True

publishAngularVelocity

bool

Include Angular velocity in msg

True

orientation

quatd[4]

Orientation as a quaternion (IJKR)

[0.0, 0.0, 0.0, 1.0]

linearAcceleration

vectord[3]

Linear acceleration vector in m/s^2

[0.0, 0.0, 0.0]

angularVelocity

vectord[3]

Angular velocity vector in rad/s

[0.0, 0.0, 0.0]