ROS2 Publish Joint State

This node publishes joint states of a robot in ROS2 JointState message

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

Exec In (inputs:execIn)

execution

The input execution port

None

Node Namespace (inputs:nodeNamespace)

string

Name of ROS2 Node, prepends any topic published/subscribed by the node name

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

Target Prim (inputs:targetPrim)

target

USD reference to the robot prim

None

Timestamp (inputs:timeStamp)

double

ROS2 Timestamp in seconds

0.0

Topic Name (inputs:topicName)

string

Name of ROS2 Topic

joint_states

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2PublishJointState

Version

1

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2PublishJointState.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Publish Joint State

Categories

isaacRos2:publisher

Generated Class Name

OgnROS2PublishJointStateDatabase

Python Module

omni.isaac.ros2_bridge