ZMQ Camera Helper#

Helper node that attaches annotators to a render product and builds the OmniGraph pipeline to publish RGB and depth data via ZMQ

Installation#

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

Name	Type	Descripton	Default
Exec In (inputs:execIn)	`execution`	Triggering this causes the ZMQ sensor pipeline to be generated	None
Frame Skip Count (inputs:frameSkipCount)	`uint`	Number of simulation frames to skip between publishes (0 = publish every frame)	0
Ip (inputs:ip)	`string`	Remote IP address of the ZMQ server	localhost
Port (inputs:port)	`uint`	Remote port number of the ZMQ server	5561
Publish Depth (inputs:publishDepth)	`bool`	Publish depth images (distance_to_camera)	True
Publish Rgb (inputs:publishRgb)	`bool`	Publish RGB color images	True
Render Product Path (inputs:renderProductPath)	`token`	Path of the render product used for capturing data
Reset Simulation Time On Stop (inputs:resetSimulationTimeOnStop)	`bool`	If True the simulation time will reset when stop is pressed	True
Use Ipc (inputs:useIpc)	`bool`	When true (default), color/depth images are shared zero-copy via CUDA IPC (same host). When false, raw bytes are sent (works cross-host).	True
Use System Time (inputs:useSystemTime)	`bool`	If True, system timestamp will be used instead of simulation timestamp	False

Name	Type	Descripton	Default
Exec Out (outputs:execOut)	`execution`	The output execution port	None

Name	Value
Unique ID	isaacsim.zmq.nodes.ZMQCameraHelper
Version	1
Extension	isaacsim.zmq.nodes
Icon	ogn/icons/isaacsim.zmq.nodes.ZMQCameraHelper.svg
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	ZMQ Camera Helper
Categories	isaacZmq
Generated Class Name	OgnZMQCameraHelperDatabase
Python Module	isaacsim.zmq.nodes