ROS & ROS2 Bridge Commands

Commands

class ROSBridgeCreateCamera(path: str = '/ROS_Camera', parent=None, enabled: bool = True, queue_size: int = 10, frame_id: str = 'sim_camera', camera_info_topic: str = '/camera_info', rgb_enabled: bool = True, rgb_topic: str = '/rgb', depth_enabled: bool = False, depth_topic: str = '/depth', point_cloud_enabled: bool = False, point_cloud_topic: str = '/point_cloud', segmentation_enabled: bool = False, semantic_topic: str = '/semantic', instance_topic: str = '/instance', label_topic: str = '/label', bbox2d_enabled: bool = False, bbox2d_topic: str = '/bbox_2d', bbox3d_enabled: bool = False, bbox3d_topic: str = '/bbox_3d', camera_prim_rel=None, resolution: pxr.Gf.Vec2i = Gf.Vec2i(1280, 720))

Bases: omni.kit.commands.command.Command

class ROSBridgeCreateClock(path: str = '/ROS_Clock', parent=None, enabled: bool = True, queue_size: int = 10, clock_topic: str = '/clock', sim_time=True)

Bases: omni.kit.commands.command.Command

class ROSBridgeCreateDifferentialBase(path: str = '/ROS_DifferentialBase', parent=None, enabled: bool = True, queue_size: int = 0, chassis_prim_rel=None, left_wheel_joint_name: str = '', right_wheel_joint_name: str = '', robot_front: pxr.Gf.Vec2f = Gf.Vec3f(1.0, 0.0, 0.0), wheel_radius: float = 0.0, wheel_base: float = 0.0, max_speed: pxr.Gf.Vec2f = Gf.Vec2f(1.5, 1.0), time_without_command: float = 0.2, acceleration_smoothing: float = 1.0, state_topic: str = '/odom', command_topic: str = '/cmd_vel', odom_frame_id: str = 'odom', base_frame_id: str = 'base_link')

Bases: omni.kit.commands.command.Command

class ROSBridgeCreateJointState(path: str = '/ROS_JointState', parent=None, enabled: bool = True, queue_size: int = 0, state_topic: str = '/joint_states', command_topic: str = '/joint_command', articulation_prim_rel=None)

Bases: omni.kit.commands.command.Command

class ROSBridgeCreateLidar(path: str = '/ROS_Lidar', parent=None, enabled: bool = True, queue_size: int = 10, frame_id: str = 'sim_lidar', laser_scan_enabled: bool = True, laser_scan_topic: str = '/laser_scan', point_cloud_enabled: bool = False, point_cloud_topic: str = '/point_cloud', lidar_prim_rel=None)

Bases: omni.kit.commands.command.Command

class ROSBridgeCreatePoseTree(path: str = '/ROS_PoseTree', parent=None, enabled: bool = True, queue_size: int = 0, topic: str = '/tf', target_prims_rel=None)

Bases: omni.kit.commands.command.Command

class ROSBridgeCreateSurfaceGripper(path: str = '/ROS_SurfaceGripper', parent=None, enabled: bool = True, queue_size: int = 0, state_topic: str = '/gripper_state', command_topic: str = '/gripper_command', d6_joint_prim_rel=None, parent_prim_rel=None, gripper_entity: str = 'gripper', grip_threshold: float = 1, force_limit: float = 10000000000.0, torque_limit: float = 10000000000.0, bend_angle: float = 0, stiffness: float = 10000000000.0, damping: float = 1000.0, offset_position: pxr.Gf.Vec3f = Gf.Vec3f(0.0, 0.0, 0.0), offset_rotation: pxr.Gf.Quatf = Gf.Quatf(1.0, Gf.Vec3f(0.0, 0.0, 0.0)))

Bases: omni.kit.commands.command.Command

class ROSBridgeCreateTeleport(path: str = '/ROS_Teleport', parent=None, enabled: bool = True, service_topic: str = '/teleport_pos', teleport_prims_rel=None)

Bases: omni.kit.commands.command.Command

Generated USD Schema API

class RosBridgeComponent

Bases: pxr.Usd.Typed

CreateEnabledAttr()
CreateRosNodePrefixAttr()
static Get()
GetEnabledAttr()
GetRosNodePrefixAttr()
static GetSchemaAttributeNames()
class RosCamera

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateBoundingBox2DClassListAttr()
CreateBoundingBox2DEnabledAttr()
CreateBoundingBox2DPubTopicAttr()
CreateBoundingBox3DClassListAttr()
CreateBoundingBox3DEnabledAttr()
CreateBoundingBox3DPubTopicAttr()
CreateCameraInfoPubTopicAttr()
CreateCameraPrimRel()
CreateDepthEnabledAttr()
CreateDepthPubTopicAttr()
CreateFrameIdAttr()
CreateInstancePubTopicAttr()
CreateLabelPubTopicAttr()
CreatePointCloudEnabledAttr()
CreatePointCloudPubTopicAttr()
CreateQueueSizeAttr()
CreateResolutionAttr()
CreateRgbEnabledAttr()
CreateRgbPubTopicAttr()
CreateSegmentationEnabledAttr()
CreateSemanticPubTopicAttr()
CreateStereoOffsetAttr()
static Define()
static Get()
GetBoundingBox2DClassListAttr()
GetBoundingBox2DEnabledAttr()
GetBoundingBox2DPubTopicAttr()
GetBoundingBox3DClassListAttr()
GetBoundingBox3DEnabledAttr()
GetBoundingBox3DPubTopicAttr()
GetCameraInfoPubTopicAttr()
GetCameraPrimRel()
GetDepthEnabledAttr()
GetDepthPubTopicAttr()
GetFrameIdAttr()
GetInstancePubTopicAttr()
GetLabelPubTopicAttr()
GetPointCloudEnabledAttr()
GetPointCloudPubTopicAttr()
GetQueueSizeAttr()
GetResolutionAttr()
GetRgbEnabledAttr()
GetRgbPubTopicAttr()
static GetSchemaAttributeNames()
GetSegmentationEnabledAttr()
GetSemanticPubTopicAttr()
GetStereoOffsetAttr()
class RosClock

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateClockPubTopicAttr()
CreateQueueSizeAttr()
CreateSimTimeAttr()
static Define()
static Get()
GetClockPubTopicAttr()
GetQueueSizeAttr()
static GetSchemaAttributeNames()
GetSimTimeAttr()
class RosDifferentialBase

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateAccelerationSmoothingAttr()
CreateBaseFrameIdAttr()
CreateChassisPrimRel()
CreateCommandSubTopicAttr()
CreateLeftWheelJointNameAttr()
CreateMaxSpeedAttr()
CreateMaxTimeWithoutCommandAttr()
CreateOdomFrameIdAttr()
CreateQueueSizeAttr()
CreateRightWheelJointNameAttr()
CreateRobotFrontAttr()
CreateStatePubTopicAttr()
CreateWheelBaseAttr()
CreateWheelRadiusAttr()
static Define()
static Get()
GetAccelerationSmoothingAttr()
GetBaseFrameIdAttr()
GetChassisPrimRel()
GetCommandSubTopicAttr()
GetLeftWheelJointNameAttr()
GetMaxSpeedAttr()
GetMaxTimeWithoutCommandAttr()
GetOdomFrameIdAttr()
GetQueueSizeAttr()
GetRightWheelJointNameAttr()
GetRobotFrontAttr()
static GetSchemaAttributeNames()
GetStatePubTopicAttr()
GetWheelBaseAttr()
GetWheelRadiusAttr()
class RosImu

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateImuPubTopicAttr()
CreateQueueSizeAttr()
CreateTargetPrimRel()
static Define()
static Get()
GetImuPubTopicAttr()
GetQueueSizeAttr()
static GetSchemaAttributeNames()
GetTargetPrimRel()
class RosJointState

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateArticulationPrimRel()
CreateJointStatePubTopicAttr()
CreateJointStateSrvTopicAttr()
CreateJointStateSubTopicAttr()
CreateQueueSizeAttr()
static Define()
static Get()
GetArticulationPrimRel()
GetJointStatePubTopicAttr()
GetJointStateSrvTopicAttr()
GetJointStateSubTopicAttr()
GetQueueSizeAttr()
static GetSchemaAttributeNames()
class RosLidar

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateFrameIdAttr()
CreateLaserScanEnabledAttr()
CreateLaserScanPubTopicAttr()
CreateLidarPrimRel()
CreatePointCloudEnabledAttr()
CreatePointCloudPubTopicAttr()
CreateQueueSizeAttr()
static Define()
static Get()
GetFrameIdAttr()
GetLaserScanEnabledAttr()
GetLaserScanPubTopicAttr()
GetLidarPrimRel()
GetPointCloudEnabledAttr()
GetPointCloudPubTopicAttr()
GetQueueSizeAttr()
static GetSchemaAttributeNames()
class RosPoseTree

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateParentPrimRel()
CreatePoseTreePubTopicAttr()
CreateQueueSizeAttr()
CreateTargetPrimsRel()
static Define()
static Get()
GetParentPrimRel()
GetPoseTreePubTopicAttr()
GetQueueSizeAttr()
static GetSchemaAttributeNames()
GetTargetPrimsRel()
class RosSurfaceGripper

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreateBendAngleAttr()
CreateD6JointPrimRel()
CreateDampingAttr()
CreateForceLimitAttr()
CreateGripThresholdAttr()
CreateGripperEntityAttr()
CreateOffsetPositionAttr()
CreateOffsetRotationAttr()
CreateParentPrimRel()
CreateQueueSizeAttr()
CreateStiffnessAttr()
CreateSurfaceGripperPubTopicAttr()
CreateSurfaceGripperSubTopicAttr()
CreateTorqueLimitAttr()
static Define()
static Get()
GetBendAngleAttr()
GetD6JointPrimRel()
GetDampingAttr()
GetForceLimitAttr()
GetGripThresholdAttr()
GetGripperEntityAttr()
GetOffsetPositionAttr()
GetOffsetRotationAttr()
GetParentPrimRel()
GetQueueSizeAttr()
static GetSchemaAttributeNames()
GetStiffnessAttr()
GetSurfaceGripperPubTopicAttr()
GetSurfaceGripperSubTopicAttr()
GetTorqueLimitAttr()
class RosTeleport

Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent

CreatePoseSrvTopicAttr()
CreateTeleportPrimsRel()
static Define()
static Get()
GetPoseSrvTopicAttr()
static GetSchemaAttributeNames()
GetTeleportPrimsRel()