[isaacsim.ros1.bridge] ROS Bridge

Warning

Deprecation: Extension deprecated since Isaac Sim 4.0.0

Version: 2.2.6

The ROS Bridge extension enables communication between the Isaac Sim and ROS 1 systems. It allows for the publishing and subscribing of ROS topics and services via OmniGraph nodes and Action graphs. ROS publishers, subscribers and services are only active when play is pressed. A lightweight set of ROS libraries included with Isaac Sim are automatically loaded when enabling this extension.

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.ros1.bridge

Experience/extension configuration

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

[dependencies]
"isaacsim.ros1.bridge" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.ros1.bridge. Then, toggle the enable control button if it is not already active.

Omnigraph Nodes

The extension exposes the following Omnigraph nodes:

• ROS1 Camera Helper
• ROS1 Master Status
• ROS1 Publish AckermannDrive
• ROS1 Publish Bbox2D
• ROS1 Publish Bbox3D
• ROS1 Publish Camera Info
• ROS1 Publish Clock
• ROS1 Publish Image
• ROS1 Publish Imu
• ROS1 Publish Joint State
• ROS1 Publish Laser Scan
• ROS1 Publish Odometry
• ROS1 Publish Point Cloud
• ROS1 Publish Raw Transform Tree
• ROS1 Publish Semantic Labels
• ROS1 Publish Transform Tree
• ROS1 RTX Lidar Helper
• ROS1 Teleport Service
• ROS1 Subscribe AckermannDrive
• ROS1 Subscribe Clock
• ROS1 Subscribe Joint State
• ROS1 Subscribe Twist

Settings

Extension Settings

The table list the extension-specific settings.

Setting name	Description	Type	Default value
nodeName	Name of the ROS node created by the extension.	str	'OmniIsaacRosBridge'

The extension-specific settings can be either specified (set) or retrieved (get) in one of the following ways:

Set setting

Command-line interface

Define the key and value of the setting as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --/exts/isaacsim.ros1.bridge/SETTING_NAME=SETTING_VALUE

Experience/extension configuration

Define the key and value of the setting under [settings] in an experience (.kit) file or an extension configuration (extension.toml) file.

[settings]
exts."isaacsim.ros1.bridge".SETTING_NAME = SETTING_VALUE

By programming

Define the key and value of the setting using the carb framework (in Python).

import carb

settings = carb.settings.get_settings()
settings.set("/exts/isaacsim.ros1.bridge/SETTING_NAME", SETTING_VALUE)

Get setting

By programming

Define the key to query the value of the setting using the carb framework (in Python).

import carb

settings = carb.settings.get_settings()
value = settings.get("/exts/isaacsim.ros1.bridge/SETTING_NAME")