ZMQ Publish Joint States#
Publishes robot joint positions and velocities via ZMQ as a JointStates protobuf message
Installation#
To use this node enable isaacsim.zmq.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Ip (inputs:ip) |
|
Remote IP address of the ZMQ server |
localhost |
Joint Names (inputs:jointNames) |
|
Ordered joint names matching the positions and velocities arrays |
[] |
Port (inputs:port) |
|
Remote port number of the ZMQ server |
5561 |
Positions (inputs:positions) |
|
Current joint positions in radians |
[] |
Timestamp (inputs:timestamp) |
|
Simulation timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
ZMQ topic published on (first multipart frame); defaults to the message type. Set a unique value (e.g. “robot_0/joint_states”) to distinguish multiple data sources. |
joint_states |
Velocities (inputs:velocities) |
|
Current joint velocities in radians per second |
[] |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Fires every tick after the message is published |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.zmq.nodes.ZMQPublishJointStates |
Version |
1 |
Extension |
isaacsim.zmq.nodes |
Icon |
ogn/icons/isaacsim.zmq.nodes.ZMQPublishJointStates.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ZMQ Publish Joint States |
Categories |
isaacZmq |
Generated Class Name |
OgnZMQPublishJointStatesDatabase |
Python Module |
isaacsim.zmq.nodes |