ZMQ Subscribe Joint Command#
Receives computed joint position and velocity commands from an external ZMQ server. Performs a non-blocking receive on each tick. Fires execOut only when a command is available.
Installation#
To use this node enable isaacsim.zmq.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
Tick |
None |
Ip (inputs:ip) |
|
IP address of the external ZMQ server |
localhost |
Port (inputs:port) |
|
Port on which the external ZMQ server is publishing joint commands |
5557 |
Topic Name (inputs:topicName) |
|
ZMQ topic subscribed to (first multipart frame); defaults to the message type. Set a unique value (e.g. “robot_0/joint_command”) to distinguish multiple data sources. |
joint_command |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Fires when a joint command is received |
None |
Joint Names (outputs:jointNames) |
|
Joint names matching the positions and velocities arrays |
None |
Positions (outputs:positions) |
|
Target joint positions in radians |
None |
Velocities (outputs:velocities) |
|
Target joint velocities in radians per second |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.zmq.nodes.ZMQSubscribeJointCommand |
Version |
1 |
Extension |
isaacsim.zmq.nodes |
Icon |
ogn/icons/isaacsim.zmq.nodes.ZMQSubscribeJointCommand.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ZMQ Subscribe Joint Command |
Categories |
isaacZmq |
Generated Class Name |
OgnZMQSubscribeJointCommandDatabase |
Python Module |
isaacsim.zmq.nodes |