ROS1 Publish Transform Tree
This node publishes the pose of prims as a ROS1 Transform Tree
Installation
To use this node enable omni.isaac.ros_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Node Namespace (inputs:nodeNamespace) |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
Parent Prim (inputs:parentPrim) |
|
Prim used as parent frame for poses, leave blank to use World |
None |
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 |
Target Prims (inputs:targetPrims) |
|
Target prims to publish poses for, if prim is an articulation, the entire articulation tree will be published |
None |
Metadata |
allowMultiInputs = 1 |
||
Timestamp (inputs:timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
/tf |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros_bridge.ROS1PublishTransformTree |
Version |
1 |
Extension |
omni.isaac.ros_bridge |
Icon |
ogn/icons/omni.isaac.ros_bridge.ROS1PublishTransformTree.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Publish Transform Tree |
Categories |
isaacRos:publisher |
Generated Class Name |
OgnROS1PublishTransformTreeDatabase |
Python Module |
omni.isaac.ros_bridge |