ROS1 Publish Joint State#
This node publishes joint states of a robot in ROS1 JointState message
Installation#
To use this node enable isaacsim.ros1.bridge in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Node Namespace (inputs:nodeNamespace) |
|
Name of ROS1 Node, prepends any topic published/subscribed by the node name |
|
Queue Size (inputs:queueSize) |
|
The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent |
10 |
Target Prim (inputs:targetPrim) |
|
USD reference to the robot prim |
None |
Timestamp (inputs:timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
joint_states |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.ros1.bridge.ROS1PublishJointState |
Version |
1 |
Extension |
isaacsim.ros1.bridge |
Icon |
ogn/icons/isaacsim.ros1.bridge.ROS1PublishJointState.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Publish Joint State |
Categories |
isaacRos:publisher |
Generated Class Name |
OgnROS1PublishJointStateDatabase |
Python Module |
isaacsim.ros1.bridge |