ROS2 QoS Profile
This node generates a JSON config of a QoS Profile
Installation
To use this node enable omni.isaac.ros2_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Create Profile (inputs:createProfile) |
|
Preset profile configs. Choosing a QoS profile will update the policies accordingly. |
Default for publishers/subscribers |
Metadata |
allowedTokens = Default for publishers/subscribers,Services,Sensor Data,System Default,Custom |
||
Deadline (inputs:deadline) |
|
Deadline policy. Defined in seconds |
0.0 |
Depth (inputs:depth) |
|
Depth (Queue size) policy. Only honored if the’history’ policy was set to ‘keepLast’. |
10 |
Durability (inputs:durability) |
|
Durability policy |
volatile |
Metadata |
allowedTokens = systemDefault,transientLocal,volatile,unknown |
||
History (inputs:history) |
|
History policy |
keepLast |
Metadata |
allowedTokens = systemDefault,keepLast,keepAll,unknown |
||
Lease Duration (inputs:leaseDuration) |
|
Lease Duration policy. Defined in seconds |
0.0 |
Lifespan (inputs:lifespan) |
|
Lifespan policy. Defined in seconds |
0.0 |
Liveliness (inputs:liveliness) |
|
Liveliness policy |
systemDefault |
Metadata |
allowedTokens = systemDefault,automatic,manualByTopic,unknown |
||
Reliability (inputs:reliability) |
|
Reliability policy |
reliable |
Metadata |
allowedTokens = systemDefault,reliable,bestEffort,unknown |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Qos Profile (outputs:qosProfile) |
|
QoS profile config |
None |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros2_bridge.ROS2QoSProfile |
Version |
1 |
Extension |
omni.isaac.ros2_bridge |
Icon |
ogn/icons/omni.isaac.ros2_bridge.ROS2QoSProfile.svg |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 QoS Profile |
Categories |
isaacRos2 |
Generated Class Name |
OgnROS2QoSProfileDatabase |
Python Module |
omni.isaac.ros2_bridge |