ROS1 Publish Image

This node publishes ROS1 Image messages

Installation

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

Inputs

Name

Type

Descripton

Default

Buffer Size (inputs:bufferSize)

uint

Size (in bytes) of the buffer (0 if the input is a texture)

0

Cuda Device Index (inputs:cudaDeviceIndex)

int

Index of the device where the data lives (-1 for host data)

-1

Data (inputs:data)

uchar[]

Buffer array data

[]

Data Ptr (inputs:dataPtr)

uint64

Pointer to the raw rgba array data

0

Encoding (inputs:encoding)

token

ROS encoding format for the input data, taken from the list of strings in include/sensor_msgs/image_encodings.h. Input data is expected to already be in this format, no conversions are performed

rgb8

Metadata

allowedTokens = rgb8,rgba8,32FC1,32SC1

Exec In (inputs:execIn)

execution

The input execution port.

None

Format (inputs:format)

uint64

Format

0

Frame Id (inputs:frameId)

string

FrameId for ROS1 message

sim_camera

Height (inputs:height)

uint

Buffer array height

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

Time Stamp (inputs:timeStamp)

double

Time in seconds to use when publishing the message

0.0

Topic Name (inputs:topicName)

string

Name of ROS1 Topic

rgb

Width (inputs:width)

uint

Buffer array width

0

Metadata

Name

Value

Unique ID

omni.isaac.ros_bridge.ROS1PublishImage

Version

1

Extension

omni.isaac.ros_bridge

Icon

ogn/icons/omni.isaac.ros_bridge.ROS1PublishImage.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS1 Publish Image

Categories

isaacRos:publisher

Generated Class Name

OgnROS1PublishImageDatabase

Python Module

omni.isaac.ros_bridge