ROS2 Publish Odometry

This node publishes odometry as a ROS2 Odometry message

Installation

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

Name	Type	Descripton	Default
Angular Velocity (inputs:angularVelocity)	`vectord[3]`	Angular velocity vector in rad/s	[0.0, 0.0, 0.0]
Chassis Frame Id (inputs:chassisFrameId)	`string`	FrameId for robot chassis frame	base_link
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
Linear Velocity (inputs:linearVelocity)	`vectord[3]`	Linear velocity vector in m/s	[0.0, 0.0, 0.0]
Node Namespace (inputs:nodeNamespace)	`string`	Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace
Odom Frame Id (inputs:odomFrameId)	`string`	FrameId for ROS2 odometry message	odom
Orientation (inputs:orientation)	`quatd[4]`	Orientation as a quaternion (IJKR)	[0.0, 0.0, 0.0, 1.0]
Position (inputs:position)	`vectord[3]`	Position vector in meters	[0.0, 0.0, 0.0]
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
Robot Front (inputs:robotFront)	`vectord[3]`	The front of the robot	[1.0, 0.0, 0.0]
Timestamp (inputs:timeStamp)	`double`	ROS2 Timestamp in seconds	0.0
Topic Name (inputs:topicName)	`string`	Name of ROS2 Topic	odom

Name	Value
Unique ID	omni.isaac.ros2_bridge.ROS2PublishOdometry
Version	1
Extension	omni.isaac.ros2_bridge
Icon	ogn/icons/omni.isaac.ros2_bridge.ROS2PublishOdometry.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 Publish Odometry
Categories	isaacRos2:publisher
Generated Class Name	OgnROS2PublishOdometryDatabase
Python Module	omni.isaac.ros2_bridge