[isaacsim.ros2.bridge] ROS 2 Bridge#

Version: 4.8.3

The ROS 2 Bridge extension enables communication between the Isaac Sim and ROS 2 systems. It allows for the publishing and subscribing of ROS 2 topics and services via OmniGraph nodes and Action graphs. ROS 2 publishers, subscribers and services are only active when play is pressed. To enable this extension, ensure ROS 2 libraries are sourced in the terminal before running Isaac Sim or source the lightweight ROS 2 libraries included with Isaac Sim as an alternative.

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.bridge

Experience/extension configuration

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

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

Extension Manager UI

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

API#

Isaac Sim ROS 2 Bridge Interface

This module provides Python bindings for the ROS 2 bridge functionality in Isaac Sim. It enables communication between Isaac Sim and ROS 2, allowing simulation components to interact with ROS 2 nodes, topics, services, and actions.

The bridge supports creating nodes, publishers, subscribers, service clients, service servers, action clients, and action servers directly from Python scripts in Isaac Sim.

class Ros2Bridge

Main interface class for ROS 2 bridge functionality.

This class provides the core interface for interacting with ROS 2 functionality within Isaac Sim. It manages the lifecycle of ROS 2 context handlers and provides factory access for creating ROS 2 related objects.

The Ros2Bridge serves as the entry point for all ROS 2 operations in Isaac Sim, including node creation, message publishing, and service handling.

get_startup_status( self: isaacsim.ros2.bridge._ros2_bridge.Ros2Bridge, ) → bool

Checks the initialization status of the ROS 2 bridge.

This method verifies if both the factory and context handler objects have been properly instantiated. These objects are created when the Ros2Bridge interface is first acquired after the plugin is loaded.

Returns:: True if both factory and context handler are successfully instantiated, False otherwise.
Return type:: bool

Note

This method should be called before attempting to use any other methods of this interface. Using other methods when this returns False may result in undefined behavior.

acquire_ros2_bridge_interface( plugin_name: str = None, library_path: str = None, ) → isaacsim.ros2.bridge._ros2_bridge.Ros2Bridge

release_ros2_bridge_interface( arg0: isaacsim.ros2.bridge._ros2_bridge.Ros2Bridge, ) → None

Settings#

Extension Settings#

The table list the extension-specific settings.

Setting name	Description	Type	Default value
`ros_distro`	ROS 2 distributions to fallback onto if none were sourced.	`str`	`'humble'`
`publish_without_verification`	Whether ROS 2 publishers are allowed to publish even if there is no active subscription for their topics.	`bool`	`False`
`publish_multithreading_disabled`	Whether to disable multithreading use in the ROS2PublishImage OmniGraph node.	`bool`	`False`

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.bridge/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.bridge".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.bridge/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.bridge/SETTING_NAME")