ROS2 Publish Semantic Labels

This node publishes ROS2 semantic label messages

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

Id To Labels (inputs:idToLabels)

string

Mapping from id to semantic labels.

Ids (inputs:ids)

uint[]

Unoccluded semantic u ids (or color, if colorize is set to True).

[]

Labels (inputs:labels)

token[]

Prim path of the prim.

[]

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

Semantics (inputs:semantics)

token[]

Semantic labels that correspeond to the ids.

[]

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

labels

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2PublishSemanticLabels

Version

1

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2PublishSemanticLabels.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Publish Semantic Labels

Categories

isaacRos2:publisher

Generated Class Name

OgnROS2PublishSemanticLabelsDatabase

Python Module

omni.isaac.ros2_bridge