ROS1 Publish Joint State

This node publishes joint states of a robot in ROS1 JointState message

Installation

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

Inputs

Name

Type

Descripton

Default

Exec In (inputs:execIn)

execution

The input execution port

None

Node Namespace (inputs:nodeNamespace)

string

Name of ROS1 Node, prepends any topic published/subscribed by the node name

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

Target Prim (inputs:targetPrim)

target

USD reference to the robot prim

None

Timestamp (inputs:timeStamp)

double

ROS1 Timestamp in seconds

0.0

Topic Name (inputs:topicName)

string

Name of ROS1 Topic

joint_states

Metadata

Name

Value

Unique ID

omni.isaac.ros_bridge.ROS1PublishJointState

Version

1

Extension

omni.isaac.ros_bridge

Icon

ogn/icons/omni.isaac.ros_bridge.ROS1PublishJointState.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS1 Publish Joint State

Categories

isaacRos:publisher

Generated Class Name

OgnROS1PublishJointStateDatabase

Python Module

omni.isaac.ros_bridge