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nodes#

Fully qualified name: isaacsim::ros2::nodes

namespace nodes#

Classes Summary#

ImagePublisher: Standalone ROS 2 image publisher that can be used from OmniGraph nodes or registered as a callback for SRTX frame delivery.
PointCloudPublisher: Standalone ROS 2 point cloud publisher that can be used from OmniGraph nodes or registered as a callback for SRTX frame delivery.
PublisherBase: Common base for all standalone ROS 2 publishers in the library.

Functions Summary#

SrtxFrameCallbackDescriptor * createCameraInfoPublisherDescriptor(const std::string &topicName, const std::string &frameId, const std::string &nodeNamespace, uint64_t queueSize, const std::string &qosProfile, uint32_t width, uint32_t height, const std::string &distortionModel, const std::vector< double > &k, const std::vector< double > &r, const std::vector< double > &p, const std::vector< double > &d): Create a camera info publisher callback descriptor. Returns a heap-allocated descriptor (caller owns it), or nullptr on failure.
SrtxFrameCallbackDescriptor * createImagePublisherDescriptor(const std::string &topicName, const std::string &frameId, const std::string &nodeNamespace, uint64_t queueSize, const std::string &qosProfile): Create an image publisher callback descriptor. Returns a heap-allocated descriptor (caller owns it), or nullptr on failure. The descriptor's destructor will clean up the publisher when called.
SrtxFrameCallbackDescriptor * createLaserScanPublisherDescriptor(const std::string &topicName, const std::string &frameId, const std::string &nodeNamespace, uint64_t queueSize, const std::string &qosProfile, float azimuthRangeStart, float azimuthRangeEnd, float depthRangeMin, float depthRangeMax, float rotationRate, float horizontalResolution, float horizontalFov): Create a laser scan publisher callback descriptor. Returns a heap-allocated descriptor (caller owns it), or nullptr on failure. The extra parameters provide scan metadata read from the lidar prim.
SrtxFrameCallbackDescriptor * createLidarPublisherDescriptor(const std::string &topicName, const std::string &frameId, const std::string &nodeNamespace, uint64_t queueSize, const std::string &qosProfile): Create a lidar publisher callback descriptor. Returns a heap-allocated descriptor (caller owns it), or nullptr on failure.
void fillPointCloudBuffer(uint8_t *buffer, const struct float3 *pointCloudData, const std::vector< std::tuple< void *, size_t, size_t > > &orderedFields, size_t pointWidth, size_t numPoints, int maxThreadsPerBlock, int multiProcessorCount, int cudaDeviceIndex, void *stream): CUDA kernel that interleaves XYZ point data with metadata fields into a single contiguous buffer on the device. Defined in FillPointCloudBuffer.cu (or ROS2PublishPointCloud.cu).
void fillPointCloudBufferHost(uint8_t *buffer, const struct float3 *pointCloudData, const std::vector< std::tuple< void *, size_t, size_t > > &orderedFields, size_t pointWidth, size_t numPoints): Host-side version that interleaves xyz + metadata into a contiguous buffer.

Structs Summary#

IRos2Nodes: Interface for ROS2 nodes functionality.
PointCloudMetadata: Metadata pointers for optional per-point fields in a lidar point cloud. Any pointer that is null will be omitted from the published message.
SrtxFrameCallbackDescriptor: Descriptor passed through PyCapsule between isaacsim.ros2.nodes (creator) and omni.replicator.srtx (consumer).

Typedefs Summary#

SrtxFrameCallbackFn: C-ABI callback signature matching omni::replicator::srtx::SrtxFrameCallbackFn.