ROS2 Publish AckermannDrive

This node subscribes to a ROS2 AckermannDriveStamped message

Installation

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

Inputs

Name

Type

Descripton

Default

Acceleration (inputs:acceleration)

double

Desired acceleration in m/s^2

0.0

Context (inputs:context)

uint64

ROS2 context handle, Default of zero will use the default global context

0

Exec In (inputs:execIn)

execution

The input execution port.

None

Frame Id (inputs:frameId)

string

FrameId for ROS2 message

Jerk (inputs:jerk)

double

Desired jerk in m/s^3

0.0

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 processed. Only honored if ‘history’ QoS policy was set to ‘keep last’. This setting can be overwritten by qosProfile input.

10

Speed (inputs:speed)

double

Desired forward speed in m/s

0.0

Steering Angle (inputs:steeringAngle)

double

Desired virtual angle in radians. Corresponds to the yaw of a virtual wheel located at the center of the front axle

0.0

Steering Angle Velocity (inputs:steeringAngleVelocity)

double

Desired rate of change of virtual angle in rad/s. Corresponds to the yaw of a virtual wheel located at the center of the front axle

0.0

Time Stamp (inputs:timeStamp)

double

Timestamp of message in seconds

0

Topic Name (inputs:topicName)

string

Name of ROS2 Topic

ackermann_cmd

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2PublishAckermannDrive

Version

1

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2PublishAckermannDrive.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Publish AckermannDrive

Categories

isaacRos2:subscriber

Generated Class Name

OgnROS2PublishAckermannDatabase

Python Module

omni.isaac.ros2_bridge