ROS2 Publish Raw Transform Tree

This node publishes a user-defined transformation between any two coordinate frames as a ROS2 Transform Tree

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

parentFrameId

string

Parent frameId for ROS2 TF message

odom

childFrameId

string

Child frameId for ROS2 TF message

base_link

topicName

string

Name of ROS2 Topic

tf

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

translation

vectord[3]

Translation vector in meters

[0.0, 0.0, 0.0]

rotation

quatd[4]

Rotation as a quaternion (IJKR)

[0.0, 0.0, 0.0, 1.0]