Isaac Compute Odometry Node
Holds values related to odometry, this node is not a replcement for the IMU sensor and the associated Read IMU node
Installation
To use this node enable omni.isaac.core_nodes in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Chassis Prim (inputs:chassisPrim) |
|
Usd prim reference to the articulation root or rigid body prim |
None |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Angular Acceleration (outputs:angularAcceleration) |
|
Angular acceleration vector in rad/s^2 |
[0.0, 0.0, 0.0] |
Angular Velocity (outputs:angularVelocity) |
|
Angular velocity vector in rad/s |
[0.0, 0.0, 0.0] |
Exec Out (outputs:execOut) |
|
The output execution port |
None |
Linear Acceleration (outputs:linearAcceleration) |
|
Linear acceleration vector in m/s^2 |
[0.0, 0.0, 0.0] |
Linear Velocity (outputs:linearVelocity) |
|
Linear velocity vector in m/s |
[0.0, 0.0, 0.0] |
Orientation (outputs:orientation) |
|
Rotation as a quaternion (IJKR) |
[0.0, 0.0, 0.0, 1.0] |
Position (outputs:position) |
|
Position vector in meters |
[0.0, 0.0, 0.0] |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.core_nodes.IsaacComputeOdometry |
Version |
1 |
Extension |
omni.isaac.core_nodes |
Icon |
ogn/icons/omni.isaac.core_nodes.IsaacComputeOdometry.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Compute Odometry Node |
Categories |
isaacCore |
Generated Class Name |
OgnIsaacComputeOdometryDatabase |
Python Module |
omni.isaac.core_nodes |