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[isaacsim.ros2.ui] ROS 2 UI Components#

Version: 1.6.4

Overview#

The isaacsim.ros2.ui extension provides pre-configured OmniGraph templates for publishing ROS 2 messages from Isaac Sim. These templates streamline the process of setting up common ROS 2 publishing workflows by providing ready-to-use graph configurations for sensors, robot data, and simulation state.

Functionality#

The extension offers seven graph template classes that create OmniGraph networks for different ROS 2 publishing scenarios:

Sensor Publishers

  • Ros2CameraGraph: Creates a graph for publishing camera image data to ROS 2 topics

  • Ros2RtxLidarGraph: Creates a graph for publishing RTX lidar point cloud data to ROS 2 topics

Robot State Publishers

  • Ros2JointStatesGraph: Creates a graph for publishing robot joint states

  • Ros2OdometryGraph: Creates a graph for publishing odometry data including position, orientation, and velocities

  • Ros2TfPubGraph: Creates a graph for publishing transform tree information

Simulation Publishers

  • Ros2ClockGraph: Creates a graph for publishing simulation clock time to synchronize ROS 2 nodes with the simulator

  • Ros2GenericPubGraph: Creates a graph for publishing custom message types to ROS 2 topics

Each graph class encapsulates the OmniGraph node configuration and connections required for its specific publishing task, eliminating the need to manually construct these graphs through the OmniGraph editor.

Integration#

The extension adds a shortcuts menu to Isaac Sim that provides quick access to ROS 2 graph creation functionality. This menu integration uses omni.kit.menu.utils to register menu items that instantiate the graph templates, allowing users to add ROS 2 publishing capabilities to their scenes without writing code.

The graph templates depend on isaacsim.ros2.nodes, which provides the underlying OmniGraph nodes used within each template. The templates act as a convenience layer that assembles these nodes into functional publishing pipelines. The extension uses isaacsim.core.experimental.utils for stage path generation and isaacsim.core.rendering_manager for viewport camera control.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.ros2.ui

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

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

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