ROS2 Publish Compressed Image

This node publishes ROS2 CompressedImage messages (H264 encoded).

Installation

To use this node enable isaacsim.ros2.nodes in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Buffer Size (inputs:bufferSize)	uint64	Size (in bytes) of the compressed data buffer	0
Context (inputs:context)	uint64	ROS2 context handle, Default of zero will use the default global context	0
Data (inputs:data)	uchar[]	Buffer array containing the compressed image data (e.g., H264 bitstream)	[]
Data Ptr (inputs:dataPtr)	uint64	Pointer to the compressed data buffer	0
Exec In (inputs:execIn)	execution	The input execution port.	None
Frame Id (inputs:frameId)	string	FrameId for ROS2 message	sim_camera
Input Format (inputs:input_format)	token	Compression format identifier for the ROS2 CompressedImage message	h264
	Metadata	allowedTokens = h264
Node Namespace (inputs:nodeNamespace)	string	Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace
Qos Profile (inputs:qosProfile)	string	QoS profile config
Queue Size (inputs:queueSize)	uint64	The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Only honored if ‘history’ QoS policy was set to ‘keep last’. This setting can be overwritten by qosProfile input.	10
Time Stamp (inputs:timeStamp)	double	Time in seconds to use when publishing the message	0.0
Topic Name (inputs:topicName)	string	Name of ROS2 Topic	image_raw/compressed

Metadata

Name	Value
Unique ID	isaacsim.ros2.bridge.ROS2PublishCompressedImage
Version	1
Extension	isaacsim.ros2.nodes
Icon	ogn/icons/isaacsim.ros2.bridge.ROS2PublishCompressedImage.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ROS2 Publish Compressed Image
Categories	isaacRos2:publisher
Generated Class Name	OgnROS2PublishCompressedImageDatabase
Python Module	isaacsim.ros2.nodes