ROS2 Publisher

This node publishes any existing ROS2 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

Metadata

displayGroup = parameters

Exec In (inputs:execIn)

execution

The input execution port.

None

Metadata

displayGroup = parameters

Message Name (inputs:messageName)

string

Message name (e.g.: Int32 for std_msgs/msg/Int32)

Metadata

displayGroup = parameters

Message Package (inputs:messagePackage)

string

Message package (e.g.: std_msgs for std_msgs/msg/Int32)

Metadata

displayGroup = parameters

Message Subfolder (inputs:messageSubfolder)

string

Message subfolder (e.g.: msg for std_msgs/msg/Int32)

msg

Metadata

displayGroup = parameters

Node Namespace (inputs:nodeNamespace)

string

Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace

Metadata

displayGroup = parameters

Qos Profile (inputs:qosProfile)

string

QoS profile config

Metadata

displayGroup = parameters

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 processed. Only honored if ‘history’ QoS policy was set to ‘keep last’. This setting can be overwritten by qosProfile input.

10

Metadata

displayGroup = parameters

Topic Name (inputs:topicName)

string

Name of ROS2 Topic

topic

Metadata

displayGroup = parameters

Outputs

Name

Type

Descripton

Default

Exec Out (outputs:execOut)

execution

Output execution triggers when a new message is published

None

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2Publisher

Version

1

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2Publisher.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Publisher

Categories

isaacRos2:publisher

Generated Class Name

OgnROS2PublisherDatabase

Python Module

omni.isaac.ros2_bridge