[isaacsim.ros2.nodes] ROS 2 Nodes#

Version: 1.5.3

The ROS 2 Nodes extension provides OmniGraph nodes for ROS 2 communication. It contains publisher, subscriber, and service nodes that can be used in Action graphs to interface with ROS 2 systems. This extension depends on the isaacsim.ros2.core extension for underlying ROS 2 functionality.

Enable Extension#

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

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

APP_SCRIPT.(sh|bat) --enable isaacsim.ros2.nodes

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

[dependencies]
"isaacsim.ros2.nodes" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.ros2.nodes. Then, toggle the enable control button if it is not already active.

API#

Internal interface that is automatically called when the extension is loaded so that Omnigraph nodes are registered.

Example

# import isaacsim.ros2.nodes.bindings._ros2_nodes as _ros2_nodes

# Acquire the interface interface = _ros2_nodes.acquire_interface()

# Use the interface # …

# Release the interface _ros2_nodes.release_interface(interface)

class IRos2Nodes
acquire_interface(
plugin_name: str = None,
library_path: str = None,
) → isaacsim.ros2.nodes.bindings._ros2_nodes.IRos2Nodes
release_interface(
arg0: isaacsim.ros2.nodes.bindings._ros2_nodes.IRos2Nodes,
) → None

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes: