ROS2 Subscribe Twist

This node subscribes to a ROS2 Twist 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 processed. 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

cmd_vel

Outputs

Name

Type

Descripton

Default

Angular Velocity (outputs:angularVelocity)

vectord[3]

Angular velocity vector in rad/s

[0.0, 0.0, 0.0]

Exec Out (outputs:execOut)

execution

Output execution triggers when a new message is received

None

Linear Velocity (outputs:linearVelocity)

vectord[3]

Linear velocity vector in m/s

[0.0, 0.0, 0.0]

Metadata

Name

Value

Unique ID

omni.isaac.ros2_bridge.ROS2SubscribeTwist

Version

1

Extension

omni.isaac.ros2_bridge

Icon

ogn/icons/omni.isaac.ros2_bridge.ROS2SubscribeTwist.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS2 Subscribe Twist

Categories

isaacRos2:subscriber

Generated Class Name

OgnROS2SubscribeTwistDatabase

Python Module

omni.isaac.ros2_bridge