[isaacsim.ros2.tf_viewer] TF Viewer

Version: 2.0.3

Show the tf transform tree in the viewport

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.ros2.tf_viewer

Experience/extension configuration

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

[dependencies]
"isaacsim.ros2.tf_viewer" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.ros2.tf_viewer. Then, toggle the enable control button if it is not already active.

Settings

Extension Settings

The table list the extension-specific settings.

Setting name	Description	Type	Default value
cpp	Whether to use the C++ implementation to listen to the tf and process the incoming data. If false, the Python implementation will be used (may degrade performance considerably).	bool	True
include_root_frame	Whether to include the pose of the root frame when drawing the TF in the viewport if not listed. Root frame’s pose is defined with position (0,0,0) and orientation (0,0,0,1), as xyzw quaternion.	bool	True

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.ros2.tf_viewer/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.ros2.tf_viewer".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.ros2.tf_viewer/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.ros2.tf_viewer/SETTING_NAME")