ROS1 Publish Point Cloud
This node publishes LiDAR scans as a ROS1 PointCloud2 message
Installation
To use this node enable omni.isaac.ros_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Buffer Size (inputs:bufferSize) |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
0 |
Cuda Device Index (inputs:cudaDeviceIndex) |
|
Index of the device where the data lives (-1 for host data) |
-1 |
Data (inputs:data) |
|
Buffer array data, must contain data if dataPtr is null |
[] |
Data Ptr (inputs:dataPtr) |
|
Pointer to the buffer data |
0 |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Frame Id (inputs:frameId) |
|
FrameId for ROS1 message |
sim_lidar |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
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 |
Timestamp (inputs:timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
point_cloud |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros_bridge.ROS1PublishPointCloud |
Version |
1 |
Extension |
omni.isaac.ros_bridge |
Icon |
ogn/icons/omni.isaac.ros_bridge.ROS1PublishPointCloud.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Publish Point Cloud |
Categories |
isaacRos:publisher |
Generated Class Name |
OgnROS1PublishPointCloudDatabase |
Python Module |
omni.isaac.ros_bridge |