ROS2 Camera Helper

This node handles automation of the camera sensor pipeline

Installation

To use this node enable omni.isaac.ros2_bridge in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Context (inputs:context)	uint64	ROS2 context handle, Default of zero will use the default global context	0
Enable Semantic Labels (inputs:enableSemanticLabels)	bool	Enable publishing of semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d	False
Enabled (inputs:enabled)	bool	True to enable the camera helper, False to disable	True
Exec In (inputs:execIn)	execution	Triggering this causes the sensor pipeline to be generated	None
Frame Id (inputs:frameId)	string	FrameId for ROS2 message, the nodeNamespace will not be prefixed to the frame id	sim_camera
Frame Skip Count (inputs:frameSkipCount)	uint	Specifies the number of simulation frames to skip between each message publish. (e.g. Set to 0 to publish each frame. Set 1 to publish every other frame)	0
Node Namespace (inputs:nodeNamespace)	string	Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace
Qos Profile (inputs:qosProfile)	string	QoS profile config
Queue Size (inputs:queueSize)	uint64	The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Only honored if ‘history’ QoS policy was set to ‘keep last’. This setting can be overwritten by qosProfile input.	10
Render Product Path (inputs:renderProductPath)	token	Path of the render product used for capturing data
Reset Simulation Time On Stop (inputs:resetSimulationTimeOnStop)	bool	If True the simulation time will reset when stop is pressed, False means time increases monotonically. This setting is ignored if useSystemTime is enabled.	False
Semantic Labels Topic Name (inputs:semanticLabelsTopicName)	string	Topic name used for publishing semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d	semantic_labels
Stereo Offset (inputs:stereoOffset)	float[2]	Stereo offset is the baseline between cameras in x and y component of the image plane in meters. (Tx, Ty is calculated using x and y component of StereoOffset value. i.e., Tx=fx*stereoOffset.X, Ty=fy*stereoOffset.Y). Used when publishing to the camera info topic	[0, 0]
Topic Name (inputs:topicName)	string	Topic name for sensor data	rgb
Type (inputs:type)	token	type	rgb
	Metadata	allowedTokens = rgb,depth,depth_pcl,instance_segmentation,semantic_segmentation,bbox_2d_tight,bbox_2d_loose,bbox_3d,camera_info
Use System Time (inputs:useSystemTime)	bool	If True, system timestamp will be included in messages. If False, simulation timestamp will be included in messages	False
Viewport (inputs:viewport)	token	DEPRECATED, use renderProductPath. Name of the desired viewport to publish

Metadata

Name	Value
Unique ID	omni.isaac.ros2_bridge.ROS2CameraHelper
Version	2
Extension	omni.isaac.ros2_bridge
Icon	ogn/icons/omni.isaac.ros2_bridge.ROS2CameraHelper.svg
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 Camera Helper
Categories	isaacRos2
Generated Class Name	OgnROS2CameraHelperDatabase
Python Module	omni.isaac.ros2_bridge