Public API for module isaacsim.ros2.nodes:

Classes

• class ViewportManager

  • class def wait_for_viewport(cls) -> tuple[bool, int]

  • class async def wait_for_viewport_async(cls) -> tuple[bool, int]

  • class def set_camera(cls, camera: str | Usd.Prim | UsdGeom.Camera)

  • class def get_camera(cls, render_product_or_viewport: str | Usd.Prim | UsdRender.Product | ‘ViewportAPI’ | None = None) -> UsdGeom.Camera

  • class def get_viewport_api(cls, render_product_or_viewport: str | Usd.Prim | UsdRender.Product | ‘ViewportAPI’ | None = None) -> ‘ViewportAPI’ | None

  • class def get_render_product(cls, render_product_or_viewport: str | Usd.Prim | UsdRender.Product | ‘ViewportAPI’ | None = None) -> UsdRender.Product | None

  • class def get_resolution(cls, render_product_or_viewport: str | Usd.Prim | UsdRender.Product | ‘ViewportAPI’ | None = None) -> tuple[int, int]

  • class def set_resolution(cls, resolution: tuple[int, int] | str)

  • class def create_viewport_window(cls) -> ViewportWindow

  • class def get_viewport_windows(cls) -> list

  • class def destroy_viewport_windows(cls) -> list[str]

  • class def set_camera_view(cls, camera: str | Usd.Prim | UsdGeom.Camera)

• class SrtxSensorSetConfig

  • name: str

  • render_product_paths: list[str] | None

• class SrtxCaptureState

  • def init(self)

  • def start_or_extend(self, srtx_instance: object, sensor_set_name: str, output_path: str)

  • def stop_or_shrink(self, srtx_instance: object, sensor_set_name: str, output_paths_to_remove: list[str])

• class CompressedImageManager

  • class def reset(cls)

  • class def attach(cls, render_product_path: str, compression_type: str = ‘h264’)

  • class def detach(cls, render_product_path: str, compression_type: str = ‘h264’)

  • class def get_writer(cls, render_product_path: str, use_system_time: bool = False, compression_type: str = ‘h264’) -> rep.Writer

• class Ros2CameraGraphConfig

  • graph_path: str

  • camera_prim: str

  • frame_id: str

  • node_namespace: str

  • camera_info_topic: str

  • add_to_existing_graph: bool

  • render_product_prim: str

  • publish_rgb: bool

  • rgb_topic: str

  • rgb_type: RgbCompression

  • publish_depth: bool

  • depth_topic: str

  • publish_depth_point_cloud: bool

  • depth_point_cloud_topic: str

  • publish_instance_segmentation: bool

  • instance_segmentation_topic: str

  • publish_semantic_segmentation: bool

  • semantic_segmentation_topic: str

  • publish_bbox_2d_tight: bool

  • bbox_2d_tight_topic: str

  • publish_bbox_2d_loose: bool

  • bbox_2d_loose_topic: str

  • publish_bbox_3d: bool

  • bbox_3d_topic: str

• class Ros2ClockGraphConfig

  • graph_path: str

• class Ros2GenericPublisherGraphConfig

  • graph_path: str

  • publisher_kind: GenericPublisherKind

  • topic_name: str | None

  • bool_value: bool

  • int64_value: int

  • string_value: str

• class Ros2JointStatesGraphConfig

  • graph_path: str

  • articulation_root: str

  • node_namespace: str

  • publish_topic: str

  • subscribe_topic: str

  • add_to_existing_graph: bool

  • publish_joint_states: bool

  • subscribe_joint_states: bool

  • move_robot_on_subscribe: bool

• class Ros2OdometryGraphConfig

  • graph_path: str

  • articulation_root: str

  • chassis_prim: str

  • node_namespace: str

  • odometry_topic: str

  • tf_topic: str

  • add_to_existing_graph: bool

  • publish_robot_tf: bool

• class Ros2RtxLidarGraphConfig

  • graph_path: str

  • lidar_prim: str

  • frame_id: str

  • node_namespace: str

  • add_to_existing_graph: bool

  • render_product_prim: str

  • publish_laser_scan: bool

  • laser_scan_topic: str

  • publish_point_cloud: bool

  • point_cloud_topic: str

  • metadata: set[LidarMetadataOption]

• class Ros2RtxRadarGraphConfig

  • graph_path: str

  • radar_prim: str

  • frame_id: str

  • node_namespace: str

  • add_to_existing_graph: bool

  • render_product_prim: str

  • point_cloud_topic: str

  • metadata: set[RadarMetadataOption]

• class Ros2TfGraphConfig

  • graph_path: str

  • target_prim: str

  • parent_prim: str

  • topic: str

  • node_namespace: str

  • add_to_existing_graph: bool

  • append_to_existing_tf_node: bool

  • existing_tf_node_path: str

Functions

• def create_ros2_camera_graph(config: Ros2CameraGraphConfig) -> str

• def create_ros2_clock_graph(config: Ros2ClockGraphConfig) -> str

• def create_ros2_generic_publisher_graph(config: Ros2GenericPublisherGraphConfig) -> str

• def create_ros2_joint_states_graph(config: Ros2JointStatesGraphConfig) -> str

• def create_ros2_odometry_graph(config: Ros2OdometryGraphConfig) -> str

• def create_ros2_rtx_lidar_graph(config: Ros2RtxLidarGraphConfig) -> str

• def create_ros2_rtx_radar_graph(config: Ros2RtxRadarGraphConfig) -> str

• def create_ros2_tf_graph(config: Ros2TfGraphConfig) -> str

• def radar_supports_basic_aux_output(radar_prim: str) -> bool

• def read_camera_info(render_product_path: str) -> tuple

• def compute_relative_pose(left_camera_prim: Usd.Prim, right_camera_prim: Usd.Prim) -> tuple[np.ndarray, np.ndarray]

• def collect_namespace(namespace_input: str, render_product_path: str) -> str

• def register_node_writer_with_telemetry(*args: Any, **kwargs: Any)

• def acquire_interface(plugin_name: str = None, library_path: str = None) -> IRos2Nodes

• def release_interface(arg0: IRos2Nodes)

• def is_srtx_supported_platform() -> bool

• def validate_srtx_platform() -> bool

• def get_srtx_sensor_set_config(render_product_path: str | None = None) -> SrtxSensorSetConfig

• def get_srtx_sensor_set_name(render_product_path: str | None = None) -> str

• def prepare_srtx_sensor_set(srtx_instance: object, render_product_path: str) -> str | None

• def ensure_render_var_on_product(stage: object, render_product_path: str, aov_name: str, compression_type: str | None = None, is_image: bool = False) -> tuple[bool, str | None]

• def cleanup_srtx_state(state: object)

• def set_isaac_name_override(prim_path: str, name: str)

• def set_isaac_namespace(prim_path: str, namespace: str)

Data

• RGB_COMPRESSION_OPTIONS

• LIDAR_POINT_CLOUD_METADATA_OPTIONS

• RADAR_POINT_CLOUD_METADATA_OPTIONS

• LIDAR_METADATA_WITHOUT_POINT_CLOUD_WARNING

• RADAR_RADIAL_VELOCITY_AUX_OUTPUT_WARNING