ROS2 Service Prim
This node provides the services to list prims and all their attributes, as well as read and write a specific attribute
Installation
To use this node enable omni.isaac.ros2_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
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 |
Get Attribute Service Name (inputs:getAttributeServiceName) |
|
Name of the ROS2 service to read a specific prim attribute |
get_prim_attribute |
Get Attributes Service Name (inputs:getAttributesServiceName) |
|
Name of the ROS2 service to list all specific prim’s attributes |
get_prim_attributes |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS2 Node, prepends any service name by the node namespace |
|
Prims Service Name (inputs:primsServiceName) |
|
Name of the ROS2 service to list all prims in the current stage |
get_prims |
Qos Profile (inputs:qosProfile) |
|
QoS profile config |
|
Set Attribute Service Name (inputs:setAttributeServiceName) |
|
Name of the ROS2 service to write a specific prim attribute |
set_prim_attribute |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Output execution triggers when a response has been submitted |
None |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros2_bridge.ROS2ServicePrim |
Version |
1 |
Extension |
omni.isaac.ros2_bridge |
Icon |
ogn/icons/omni.isaac.ros2_bridge.ROS2ServicePrim.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 Service Prim |
Categories |
isaacRos2:service |
Generated Class Name |
OgnROS2ServicePrimDatabase |
Python Module |
omni.isaac.ros2_bridge |