ROS2 Subscribe Joint State

This node subscribes to a joint state command of a robot in a ROS2 JointState 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

Exec In (inputs:execIn)

execution

The input execution port

None

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

Topic Name (inputs:topicName)

string

Name of ROS2 Topic

joint_command

Outputs

Name

Type

Descripton

Default

Effort Command (outputs:effortCommand)

double[]

Effort commands

None

Exec Out (outputs:execOut)

execution

Output execution triggers when a new message is received

None

Joint Names (outputs:jointNames)

token[]

Commanded joint names

None

Position Command (outputs:positionCommand)

double[]

Position commands

None

Timestamp (outputs:timeStamp)

double

ROS2 Timestamp in seconds

0.0

Velocity Command (outputs:velocityCommand)

double[]

Velocity commands

None

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2SubscribeJointState

Version

2

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2SubscribeJointState.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Subscribe Joint State

Categories

isaacRos2:subscriber

Generated Class Name

OgnROS2SubscribeJointStateDatabase

Python Module

omni.isaac.ros2_bridge