ROS2 Bridge [omni.isaac.ros2_bridge]
Omnigraph Nodes
ROS2PublishLaserScan
[‘This node publishes LiDAR scans as a ROS2 LaserScan message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_lidar.
topicName (string): Name of ROS2 Topic. Default to scan.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
horizontalFov (float): Horizontal Field of View in degrees. Default to 0.
horizontalResolution (float): Degrees in between rays for horizontal axis. Default to 0.
depthRange (float[2]): The min and max range for sensor to detect a hit [min, max]. Default to [0, 0].
rotationRate (float): Rotation rate of sensor in Hz. Default to 0.
linearDepthData (float[]): Buffer array containing linear depth data. Default to [].
intensitiesData (uchar[]): Buffer array containing intensities data. Default to [].
numRows (int): Number of rows in buffers. Default to 0.
numCols (int): Number of columns in buffers. Default to 0.
azimuthRange (float[2]): The azimuth range [min, max]. Default to [0.0, 0.0].
ROS2PublishSemanticLabels
[‘This node publishes ROS2 semantic label messages’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
topicName (string): Name of ROS2 Topic. Default to labels.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): Time in seconds to use when publishing the message. Default to 0.0.
ids (uint[]): Unoccluded semantic u ids (or color, if colorize is set to True).
labels (token[]): Prim path of the prim.
semantics (token[]): Semantic labels that correspeond to the ids.
idToLabels (string): Mapping from id to semantic labels.
ROS2PublishRawTransformTree
[‘This node publishes a user-defined transformation between any two coordinate frames as a ROS2 Transform Tree’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
parentFrameId (string): Parent frameId for ROS2 TF message. Default to odom.
childFrameId (string): Child frameId for ROS2 TF message. Default to base_link.
topicName (string): Name of ROS2 Topic. Default to 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. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
translation (vectord[3]): Translation vector in meters. Default to [0.0, 0.0, 0.0].
rotation (quatd[4]): Rotation as a quaternion (IJKR). Default to [0.0, 0.0, 0.0, 1.0].
ROS2PublishImu
[‘This node publishes IMU data as a ROS2 IMU message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_imu.
topicName (string): Name of ROS2 Topic. Default to 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. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
publishOrientation (bool): Include orientation in msg. Default to True.
publishLinearAcceleration (bool): Include Linear acceleration in msg. Default to True.
publishAngularVelocity (bool): Include Angular velocity in msg. Default to True.
orientation (quatd[4], optional): Orientation as a quaternion (IJKR). Default to [0.0, 0.0, 0.0, 1.0].
linearAcceleration (vectord[3], optional): Linear acceleration vector in m/s^2. Default to [0.0, 0.0, 0.0].
angularVelocity (vectord[3], optional): Angular velocity vector in rad/s. Default to [0.0, 0.0, 0.0].
ROS2PublishClock
[‘This node publishes the given time as a ROS2 Clock message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
topicName (string): Name of ROS2 Topic. Default to clock.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): Time in seconds to use when publishing the message. Default to 0.
ROS2Context
[‘This node creates a ROS2 Context for a given domain ID’]
- Inputs
domain_id (uchar): Domain ID for ROS context. Default to 0.
useDomainIDEnvVar (bool): Set to true to use ROS_DOMAIN_ID environment variable if set. Defaults to domain_id if not found. Default to True.
- Outputs
context (uint64): handle to initialized ROS2 context.
ROS2PublishJointState
[‘This node publishes joint states of a robot in ROS2 JointState message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
targetPrim (target): USD reference to the robot prim.
nodeNamespace (string): Name of ROS2 Node, prepends any topic published/subscribed by the node name.
topicName (string): Name of ROS2 Topic. Default to joint_states.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
ROS2SubscribeClock
[‘This node subscribes to a ROS2 Clock message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
topicName (string): Name of ROS2 Topic. Default to clock.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be processed. Default to 10.
- Outputs
execOut (execution): Output execution triggers when a new message is received.
timeStamp (double): Time in seconds.
ROS2PublishCameraInfo
[‘This node publishes camera info as a ROS2 CameraInfo message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_camera.
topicName (string): Name of ROS2 Topic. Default to camera_info.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
width (uint): Width for output image.
height (uint): Height for output image.
focalLength (float): focal length.
horizontalAperture (float): horizontal aperture.
verticalAperture (float): vertical aperture.
horizontalOffset (float): horizontal offset.
verticalOffset (float): vertical offset.
projectionType (token): projection type.
stereoOffset (float[2]): Stereo offset (Tx, Ty) used when publishing the camera info topic. Default to [0.0, 0.0].
physicalDistortionModel (token): physical distortion model used for approximation, if blank projectionType is used.
physicalDistortionCoefficients (float[]): physical distortion model used for approximation, physicalDistortionModel must be set to use these coefficients.
ROS2PublishImage
[‘This node publishes ROS2 Image messages’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_camera.
topicName (string): Name of ROS2 Topic. Default to rgb.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): Time in seconds to use when publishing the message. Default to 0.0.
data (uchar[]): Buffer array data. Default to [].
width (uint): Buffer array width. Default to 0.
height (uint): Buffer array height. Default to 0.
encoding (token): ROS encoding format for the input data, taken from the list of strings in include/sensor_msgs/image_encodings.h. Input data is expected to already be in this format, no conversions are performed. Default to rgb8.
dataPtr (uint64): Pointer to the raw rgba array data. Default to 0.
cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data). Default to -1.
bufferSize (uint): Size (in bytes) of the buffer (0 if the input is a texture).
format (uint64): Format.
ROS2SubscribeTwist
[‘This node subscribes to a ROS2 Twist message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
topicName (string): Name of ROS2 Topic. Default to cmd_vel.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be processed. Default to 10.
- Outputs
execOut (execution): Output execution triggers when a new message is received.
linearVelocity (vectord[3]): Linear velocity vector in m/s.
angularVelocity (vectord[3]): Angular velocity vector in rad/s.
ROS2PublishOdometry
[‘This node publishes odometry as a ROS2 Odometry message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
odomFrameId (string): FrameId for ROS2 odometry message. Default to odom.
chassisFrameId (string): FrameId for robot chassis frame. Default to base_link.
topicName (string): Name of ROS2 Topic. Default to odom.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
position (vectord[3]): Position vector in meters. Default to [0.0, 0.0, 0.0].
orientation (quatd[4]): Orientation as a quaternion (IJKR). Default to [0.0, 0.0, 0.0, 1.0].
linearVelocity (vectord[3]): Linear velocity vector in m/s. Default to [0.0, 0.0, 0.0].
angularVelocity (vectord[3]): Angular velocity vector in rad/s. Default to [0.0, 0.0, 0.0].
robotFront (vectord[3]): The front of the robot. Default to [1.0, 0.0, 0.0].
ROS2SubscribeJointState
[‘This node subscribes to a joint state command of a robot in a ROS2 JointState message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
topicName (string): Name of ROS2 Topic. Default to joint_command.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
- Outputs
execOut (execution): Output execution triggers when a new message is received.
timeStamp (double): ROS2 Timestamp in seconds.
jointNames (token[]): Commanded joint names.
positionCommand (double[]): Position commands.
velocityCommand (double[]): Velocity commands.
effortCommand (double[]): Effort commands.
ROS2PublishBbox3D
[‘This node publishes ROS2 Bbox3d messages’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_camera.
topicName (string): Name of ROS2 Topic. Default to bbox3d.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): Time in seconds to use when publishing the message. Default to 0.0.
data (uchar[]): Buffer array data. Default to [].
ROS2PublishPointCloud
[‘This node publishes LiDAR scans as a ROS2 PointCloud2 message’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_lidar.
topicName (string): Name of ROS2 Topic. Default to point_cloud.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
dataPtr (uint64): Pointer to the buffer data. Default to 0.
data (pointf[3][]): Buffer array data, must contain data if dataPtr is null. Default to [].
cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data). Default to -1.
bufferSize (uint): Size (in bytes) of the buffer (0 if the input is a texture).
ROS2PublishTransformTree
[‘This node publishes the pose of prims as a ROS2 Transform Tree’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
parentPrim (target, optional): Prim used as parent frame for poses, leave blank to use World.
targetPrims (target): Target prims to publish poses for, if prim is an articulation, the entire articulation tree will be published.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
topicName (string): Name of ROS2 Topic. Default to 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. Default to 10.
timeStamp (double): ROS2 Timestamp in seconds. Default to 0.0.
ROS2PublishBbox2D
[‘This node publishes ROS2 Bbox2d messages’]
- Inputs
execIn (execution): The input execution port.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 message. Default to sim_camera.
topicName (string): Name of ROS2 Topic. Default to bbox2d.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
timeStamp (double): Time in seconds to use when publishing the message. Default to 0.0.
data (uchar[]): Buffer array data. Default to [].
ROS2CameraHelper
This node handles automation of the camera sensor pipeline
- Inputs
execIn (execution): Triggering this causes the sensor pipeline to be generated.
enabled (bool): True to enable the camera helper, False to disable. Default to True.
context (uint64): ROS2 context handle, Default of zero will use the default global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace.
frameId (string): FrameId for ROS2 messagem, the nodeNamespace will not be prefixed to the frame id. Default to sim_camera.
topicName (string): Topic name for sensor data. Default to rgb.
queueSize (uint64): The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Default to 10.
viewport (token): DEPRECATED, use renderProductPath. Name of the desired viewport to publish.
renderProductPath (token): Path of the render product used for capturing data.
type (token): type. Default to rgb.
enableSemanticLabels (bool): Enable publishing of semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d.
semanticLabelsTopicName (string): Topic name used for publishing semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d. Default to semantic_labels.
stereoOffset (float[2]): Stereo offset (Tx, Ty) used when publishing the camera info topic. Default to [0, 0].
resetSimulationTimeOnStop (bool): If True the simulation time will reset when stop is pressed, False means time increases monotonically. Default to False.
ROS2RtxLidarHelper
Handles automation of Lidar Sensor pipeline
- Inputs
execIn (execution): Triggering this causes the sesnor pipeline to be generated.
enabled (bool): True to enable the lidar helper, False to disable. Default to True.
context (uint64): ROS2 context handle, default of zero will use the global context. Default to 0.
nodeNamespace (string): Namespace of ROS2 Node, prepends and published/subscribed topic by the node namespace.
frameId (string): FrameID for the ROS2 message, the nodeNamespace will not be prefixed to the frame id. Default to sim_lidar.
topicName (string): Topic name for sensor data. Default to scan.
queueSize (uint64): Number of message to queue up before throwing away, in case messages are collected faster than they can be sent. Default to 10.
renderProductPath (token): Name of the render product path to publish lidar data.
type (token): Data to publish from node. Default to laser_scan.
resetSimulationTimeOnStop (bool): If True the simulation time will reset when stop is pressed, False means time increases monotonically. Default to False.