ROS1 Publish Odometry
This node publishes odometry as a ROS1 Odometry message
Installation
To use this node enable omni.isaac.ros_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Angular Velocity (inputs:angularVelocity) |
|
Angular velocity vector in rad/s |
[0.0, 0.0, 0.0] |
Chassis Frame Id (inputs:chassisFrameId) |
|
FrameId for robot chassis frame |
base_link |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Linear Velocity (inputs:linearVelocity) |
|
Linear velocity vector in m/s |
[0.0, 0.0, 0.0] |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
Odom Frame Id (inputs:odomFrameId) |
|
FrameId for ROS1 odometry message |
odom |
Orientation (inputs:orientation) |
|
Orientation as a quaternion (IJKR) |
[0.0, 0.0, 0.0, 1.0] |
Position (inputs:position) |
|
Position vector in meters |
[0.0, 0.0, 0.0] |
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 sent |
10 |
Robot Front (inputs:robotFront) |
|
The front of the robot |
[1.0, 0.0, 0.0] |
Timestamp (inputs:timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
odom |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros_bridge.ROS1PublishOdometry |
Version |
1 |
Extension |
omni.isaac.ros_bridge |
Icon |
ogn/icons/omni.isaac.ros_bridge.ROS1PublishOdometry.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Publish Odometry |
Categories |
isaacRos:publisher |
Generated Class Name |
OgnROS1PublishOdometryDatabase |
Python Module |
omni.isaac.ros_bridge |