ROS2 Publish Imu

This node publishes IMU data as a ROS2 IMU message

Installation

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

Inputs

Name	Type	Descripton	Default
Angular Velocity (inputs:angularVelocity)	vectord[3]	Angular velocity vector in rad/s	[0.0, 0.0, 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	sim_imu
Linear Acceleration (inputs:linearAcceleration)	vectord[3]	Linear acceleration vector in m/s^2	[0.0, 0.0, 0.0]
Node Namespace (inputs:nodeNamespace)	string	Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace
Orientation (inputs:orientation)	quatd[4]	Orientation as a quaternion (IJKR)	[0.0, 0.0, 0.0, 1.0]
Publish Angular Velocity (inputs:publishAngularVelocity)	bool	Include Angular velocity in msg	True
Publish Linear Acceleration (inputs:publishLinearAcceleration)	bool	Include Linear acceleration in msg	True
Publish Orientation (inputs:publishOrientation)	bool	Include orientation in msg	True
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
Timestamp (inputs:timeStamp)	double	ROS2 Timestamp in seconds	0.0
Topic Name (inputs:topicName)	string	Name of ROS2 Topic	imu

Metadata

Name	Value
Unique ID	omni.isaac.ros2_bridge.ROS2PublishImu
Version	1
Extension	omni.isaac.ros2_bridge
Icon	ogn/icons/omni.isaac.ros2_bridge.ROS2PublishImu.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 Publish Imu
Categories	isaacRos2:publisher
Generated Class Name	OgnROS2PublishImuDatabase
Python Module	omni.isaac.ros2_bridge