ROS1 Camera Helper

This node handles automation of the camera sensor pipeline

Installation

To use this node enable omni.isaac.ros_bridge in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Enable Semantic Labels (inputs:enableSemanticLabels)

bool

Enable publishing of semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d

False

Enabled (inputs:enabled)

bool

True to enable the camera helper, False to disable

True

Exec In (inputs:execIn)

execution

Triggering this causes the sensor pipeline to be generated

None

Frame Id (inputs:frameId)

string

FrameId for ROS1 message, the nodeNamespace will be prefixed to the frame id

sim_camera

Frame Skip Count (inputs:frameSkipCount)

uint

Specifies the number of simulation frames to skip between each message publish. (e.g. Set to 0 to publish each frame. Set 1 to publish every other frame)

0

Node Namespace (inputs:nodeNamespace)

string

Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace

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

10

Render Product Path (inputs:renderProductPath)

token

Path of the render product used for capturing data

Reset Simulation Time On Stop (inputs:resetSimulationTimeOnStop)

bool

If True the simulation time will reset when stop is pressed, False means time increases monotonically. This setting is ignored if useSystemTime is enabled.

False

Semantic Labels Topic Name (inputs:semanticLabelsTopicName)

string

Topic name used for publishing semantic labels, applies only to instance_segmentation, semantic_segmentation, bbox_2d_tight, bbox_2d_loose, bbox_3d

semantic_labels

Stereo Offset (inputs:stereoOffset)

float[2]

Stereo offset is the baseline between cameras in x and y component of the image plane in meters. (Tx, Ty is calculated using x and y component of StereoOffset value. i.e., Tx=fx*stereoOffset.X, Ty=fy*stereoOffset.Y). Used when publishing to the camera info topic

[0, 0]

Topic Name (inputs:topicName)

string

Topic name for sensor data

rgb

Type (inputs:type)

token

type

rgb

Metadata

allowedTokens = rgb,depth,depth_pcl,instance_segmentation,semantic_segmentation,bbox_2d_tight,bbox_2d_loose,bbox_3d,camera_info

Use System Time (inputs:useSystemTime)

bool

If True, system timestamp will be included in messages. If False, simulation timestamp will be included in messages

False

Viewport (inputs:viewport)

token

DEPRECATED, use renderProductPath. Name of the desired viewport to publish

Metadata

Name

Value

Unique ID

omni.isaac.ros_bridge.ROS1CameraHelper

Version

2

Extension

omni.isaac.ros_bridge

Icon

ogn/icons/omni.isaac.ros_bridge.ROS1CameraHelper.svg

Has State?

False

Implementation Language

Python

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS1 Camera Helper

Categories

isaacRos

Generated Class Name

OgnROS1CameraHelperDatabase

Python Module

omni.isaac.ros_bridge