ROS2 Publish Image

This node publishes ROS2 Image messages

Installation

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

Inputs

Name

Type

Descripton

Default

Buffer Size (inputs:bufferSize)

uint

Size (in bytes) of the buffer (0 if the input is a texture)

0

Context (inputs:context)

uint64

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

0

Cuda Device Index (inputs:cudaDeviceIndex)

int

Index of the device where the data lives (-1 for host data)

-1

Data (inputs:data)

uchar[]

Buffer array data

[]

Data Ptr (inputs:dataPtr)

uint64

Pointer to the raw rgba array data

0

Encoding (inputs: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

rgb8

Metadata

allowedTokens = rgb8,rgba8,32FC1,32SC1

Exec In (inputs:execIn)

execution

The input execution port.

None

Format (inputs:format)

uint64

Format

0

Frame Id (inputs:frameId)

string

FrameId for ROS2 message

sim_camera

Height (inputs:height)

uint

Buffer array height

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

Time Stamp (inputs:timeStamp)

double

Time in seconds to use when publishing the message

0.0

Topic Name (inputs:topicName)

string

Name of ROS2 Topic

rgb

Width (inputs:width)

uint

Buffer array width

0

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2PublishImage

Version

1

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2PublishImage.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Publish Image

Categories

isaacRos2:publisher

Generated Class Name

OgnROS2PublishImageDatabase

Python Module

omni.isaac.ros2_bridge