ROS1 Subscribe AckermannDrive
This node subscribes to a ROS1 AckermannDriveStamped message
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 |
|
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 processed |
10 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
ackermann_cmd |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Acceleration (outputs:acceleration) |
|
Desired acceleration in m/s^2 |
0.0 |
Exec Out (outputs:execOut) |
|
Output execution triggers when a new message is received |
None |
Frame Id (outputs:frameId) |
|
FrameId for ROS1 message |
|
Jerk (outputs:jerk) |
|
Desired jerk in m/s^3 |
0.0 |
Speed (outputs:speed) |
|
Desired forward speed in m/s |
0.0 |
Steering Angle (outputs:steeringAngle) |
|
Desired virtual angle in radians. Corresponds to the yaw of a virtual wheel located at the center of the front axle |
0.0 |
Steering Angle Velocity (outputs:steeringAngleVelocity) |
|
Desired rate of change of virtual angle in rad/s. Corresponds to the yaw of a virtual wheel located at the center of the front axle |
0.0 |
Time Stamp (outputs:timeStamp) |
|
Timestamp of message in seconds |
0.0 |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros_bridge.ROS1SubscribeAckermannDrive |
Version |
1 |
Extension |
omni.isaac.ros_bridge |
Icon |
ogn/icons/omni.isaac.ros_bridge.ROS1SubscribeAckermannDrive.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Subscribe AckermannDrive |
Categories |
isaacRos:subscriber |
Generated Class Name |
OgnROS1SubscribeAckermannDatabase |
Python Module |
omni.isaac.ros_bridge |