[isaacsim.hsb.bridge] Holoscan Sensor Bridge#

Version: 1.0.1

Extension: {{ extension_version }}

Documentation Generated: Jun 05, 2026

Overview#

The isaacsim.hsb.bridge extension provides OmniGraph nodes that use the Holoscan Sensor Bridge (HSB) emulator to stream camera frames from Isaac Sim to external receivers with low latency.

Nodes#

HSB Camera Helper (`HSBCameraHelper`)#

The easiest way to stream a camera. Given a render product, it automatically wires the full pipeline (RGB conversion → CSI packing → HSB send) using Replicator writers registered by the extension.

Input	Type	Description
`renderProductPath`	token	Render product to stream
`type`	token	`vb1940_csi_coe` (3p4b, AGX Thor) or `vb1940_csi_linux` (4p5b, RoCE player). Default: `vb1940_csi_coe`
`ipAddress`	string	HSB target IP. Default: `127.0.0.1`
`dataPlaneType`	token	`coe` (Camera-over-Ethernet) or `linux` (RoCEv2 UDP). Default: `coe`
`dataPlaneId`	uint	Data plane ID
`sensorId`	uint	Sensor ID
`useSystemTime`	bool	Use system clock instead of simulation time
`resetSimulationTimeOnStop`	bool	Reset simulation timestamp on stop

Typical setup: Add an OnPlaybackTick node and an Isaac Create Render Product node. Connect their execution ports in order, then connect Isaac Create Render Product.outputs:renderProductPath to HSBCameraHelper.inputs:renderProductPath. Configure type, ipAddress, and dataPlaneType on the helper to match your receiver.

RGB to VB1940 (`RGBToVB1940`)#

Converts an RGB(A) image to a VB1940 CSI frame entirely on the GPU (CUDA). Outputs a 1D byte buffer ready to pass to HSB Send. Used internally by the Replicator writers wired by HSB Camera Helper, but can also be placed manually in a graph.

Input	Type	Description
`data`	uchar[] (cpu)	RGB(A) pixel data (optional if `dataPtr` is set)
`dataPtr`	uint64	Pointer to raw image data on GPU or CPU
`cudaDeviceIndex`	int	CUDA device for `dataPtr` (-1 = CPU pointer)
`bufferSize`	uint	Byte size of `dataPtr` buffer
`width` / `height`	uint	Image dimensions in pixels
`encoding`	token	`rgb8` or `rgba8`
`outputMode`	token	`vb1940_csi_linux` (4p5b, 8-byte line align) or `vb1940_csi_coe` (3p4b, 64-byte line align). Default: `vb1940_csi_linux`

Output	Type	Description
`data`	uchar[] (cpu)	VB1940 CSI frame: 1 leading embedded line + image lines + 2 trailing embedded lines

HSB Send (`HSBSend`)#

Sends a 1D byte buffer to an HSB receiver. The send is dispatched asynchronously via carb::tasking so the OmniGraph thread returns immediately; the previous frame’s send is drained at the start of the next frame.

Input	Type	Description
`data`	uchar[] (cpu)	Buffer to send (connect from `RGBToVB1940.outputs:data`)
`ipAddress`	string	HSB target IP. Default: `127.0.0.1`
`dataPlaneType`	string	`coe` or `linux`. Default: `coe`
`dataPlaneId`	uint	Data plane ID
`sensorId`	uint	Sensor ID
`timeStamp`	double	Timestamp in seconds

Payload modes#

Mode	`outputMode`	`dataPlaneType`	Frame format
VB1940 CSI Linux	`vb1940_csi_linux`	`linux`	RAW10 4p5b, 8-byte line align
VB1940 CSI over COE	`vb1940_csi_linux`	`coe`	RAW10 4p5b, 8-byte line align
VB1940 CSI COE	`vb1940_csi_coe`	`coe`	RAW10 3p4b, 64-byte line align

Note: The linux_coe players expect the same 4p5b frame as the RoCE player. Using vb1940_csi_coe (3p4b) with a Linux COE player causes “Ignoring contents for a packet” because the frame size exceeds the player’s buffer.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.hsb.bridge

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.hsb.bridge" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.hsb.bridge. Then, toggle the enable control button if it is not already active.