ROS2 Publish Raw Transform Tree
This node publishes a user-defined transformation between any two coordinate frames as a ROS2 Transform Tree
Installation
To use this node enable omni.isaac.ros2_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Child Frame Id (inputs:childFrameId) |
|
Child frameId for ROS2 TF message |
base_link |
Context (inputs:context) |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace |
|
Parent Frame Id (inputs:parentFrameId) |
|
Parent frameId for ROS2 TF message |
odom |
Qos Profile (inputs:qosProfile) |
|
QoS profile config |
|
Queue Size (inputs:queueSize) |
|
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 |
Rotation (inputs:rotation) |
|
Rotation as a quaternion (IJKR) |
[0.0, 0.0, 0.0, 1.0] |
Static Publisher (inputs:staticPublisher) |
|
If enabled this will override QoS settings to publish static transform trees, similar to tf2::StaticTransformBroadcaster |
False |
Timestamp (inputs:timeStamp) |
|
ROS2 Timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
Name of ROS2 Topic |
tf |
Translation (inputs:translation) |
|
Translation vector in meters |
[0.0, 0.0, 0.0] |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros2_bridge.ROS2PublishRawTransformTree |
Version |
1 |
Extension |
omni.isaac.ros2_bridge |
Icon |
ogn/icons/omni.isaac.ros2_bridge.ROS2PublishRawTransformTree.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 Publish Raw Transform Tree |
Categories |
isaacRos2:publisher |
Generated Class Name |
OgnROS2PublishRawTransformTreeDatabase |
Python Module |
omni.isaac.ros2_bridge |