ROS2 Subscriber
This node subscribes to 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) |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
Metadata |
displayGroup = parameters |
||
Exec In (inputs:execIn) |
|
The input execution port. |
None |
Metadata |
displayGroup = parameters |
||
Message Name (inputs:messageName) |
|
Message name (e.g.: Int32 for std_msgs/msg/Int32) |
|
Metadata |
displayGroup = parameters |
||
Message Package (inputs:messagePackage) |
|
Message package (e.g.: std_msgs for std_msgs/msg/Int32) |
|
Metadata |
displayGroup = parameters |
||
Message Subfolder (inputs:messageSubfolder) |
|
Message subfolder (e.g.: msg for std_msgs/msg/Int32) |
msg |
Metadata |
displayGroup = parameters |
||
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace |
|
Metadata |
displayGroup = parameters |
||
Qos Profile (inputs:qosProfile) |
|
QoS profile config |
|
Metadata |
displayGroup = parameters |
||
Queue Size (inputs:queueSize) |
|
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) |
|
Name of ROS2 Topic |
topic |
Metadata |
displayGroup = parameters |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Output execution triggers when a new message is received |
None |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros2_bridge.ROS2Subscriber |
Version |
1 |
Extension |
omni.isaac.ros2_bridge |
Icon |
ogn/icons/omni.isaac.ros2_bridge.ROS2Subscriber.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 Subscriber |
Categories |
isaacRos2:subscriber |
Generated Class Name |
OgnROS2SubscriberDatabase |
Python Module |
omni.isaac.ros2_bridge |