ROS2 Publish Transform Tree
This node publishes the pose of prims 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 |
|
The input execution port |
|
context |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
parentPrim |
|
Prim used as parent frame for poses, leave blank to use World |
|
targetPrims |
|
Target prims to publish poses for, if prim is an articulation, the entire articulation tree will be published |
|
nodeNamespace |
|
Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace |
|
topicName |
|
Name of ROS2 Topic |
tf |
queueSize |
|
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) |
|
ROS2 Timestamp in seconds |
0.0 |