ROS1 Subscribe Joint State#
This node subscribes to a joint state command of a robot in a 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) |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
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 |
Topic Name (inputs:topicName) |
|
Name of ROS1 Topic |
joint_command |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Effort Command (outputs:effortCommand) |
|
Effort commands |
None |
Exec Out (outputs:execOut) |
|
Output execution triggers when a new message is received |
None |
Joint Names (outputs:jointNames) |
|
Commanded joint names |
None |
Position Command (outputs:positionCommand) |
|
Position commands |
None |
Timestamp (outputs:timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
Velocity Command (outputs:velocityCommand) |
|
Velocity commands |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.ros1.bridge.ROS1SubscribeJointState |
Version |
2 |
Extension |
isaacsim.ros1.bridge |
Icon |
ogn/icons/isaacsim.ros1.bridge.ROS1SubscribeJointState.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS1 Subscribe Joint State |
Categories |
isaacRos:subscriber |
Generated Class Name |
OgnROS1SubscribeJointStateDatabase |
Python Module |
isaacsim.ros1.bridge |