ROS1 Subscribe Joint State

This node subscribes to a joint state command of a robot in a 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

Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace

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

Topic Name (inputs:topicName)

string

Name of ROS1 Topic

joint_command

Outputs

Name

Type

Descripton

Default

Effort Command (outputs:effortCommand)

double[]

Effort commands

None

Exec Out (outputs:execOut)

execution

Output execution triggers when a new message is received

None

Joint Names (outputs:jointNames)

token[]

Commanded joint names

None

Position Command (outputs:positionCommand)

double[]

Position commands

None

Timestamp (outputs:timeStamp)

double

ROS1 Timestamp in seconds

0.0

Velocity Command (outputs:velocityCommand)

double[]

Velocity commands

None

Metadata

Name

Value

Unique ID

omni.isaac.ros_bridge.ROS1SubscribeJointState

Version

2

Extension

omni.isaac.ros_bridge

Icon

ogn/icons/omni.isaac.ros_bridge.ROS1SubscribeJointState.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS1 Subscribe Joint State

Categories

isaacRos:subscriber

Generated Class Name

OgnROS1SubscribeJointStateDatabase

Python Module

omni.isaac.ros_bridge