[isaacsim.zmq.nodes] ZMQ Nodes#

Version: 1.1.1

isaacsim.zmq.nodes#

OmniGraph publish nodes and camera helper for ZMQ Bridge streaming.

Overview#

Provides OGN nodes that serialize simulation data to Protobuf and stream it over ZMQ. Publish nodes use PUSH sockets (Isaac Sim → server); subscribe nodes use SUB sockets (server → Isaac Sim). All nodes share sockets through the registries in isaacsim.zmq.core.

Nodes#

C++ OGN Publish Nodes#

All publish nodes connect to a single server PULL port (default 5561) and send [topic, payload] multipart messages.

Node	Topic	Proto type
`OgnZMQPublishClock`	`clock`	`Clock`
`OgnZMQPublishImage`	`image`	`Image`
`OgnZMQPublishPose`	`pose`	`Pose`
`OgnZMQPublishJointStates`	`joint_states`	`JointStates`

C++ OGN Subscribe Nodes#

Subscribe nodes connect to the server PUB port (default 5557). Each SUB socket filters by its own topic so they can share a port without interfering.

Node	Topic	Proto type
`OgnZMQSubscribeUpdatePrimAttribute`	`update_prim_attribute`	`UpdatePrimAttribute`
`OgnZMQSubscribeJointCommand`	`joint_command`	`JointCommand`

Python OGN Nodes#

Node	Purpose
`OgnZMQCameraHelper`	Attaches annotators to a render product and builds the publish graph

OgnZMQPublishImage#

The encoding token selects content type:

rgba8 — 4-channel uint8 color
rgb8 — 3-channel uint8 color
32FC1 — 1-channel float32 depth

OgnZMQCameraHelper#

Attaches the RGB and/or depth ZMQPublishImage writers to a render product, so a single graph node streams camera images without manual writer setup.

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.zmq.nodes

Experience/extension configuration

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

[dependencies]
"isaacsim.zmq.nodes" = {}

Extension Manager UI

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

Python API#

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes: