ROS1 Publish Transform Tree

This node publishes the pose of prims as a ROS1 Transform Tree

Installation

To use this Node, you must enable omni.isaac.ros_bridge in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

parentPrim

bundle

Prim used as parent frame for poses, leave blank to use World

targetPrims

bundle

Target prims to publish poses for, if prim is an articulation, the entire articulation tree will be published

nodeNamespace

string

Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace

topicName

string

Name of ROS1 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

ROS1 Timestamp in seconds

0.0