UCX Publish Odometry#
This node publishes odometry data (pose and velocities relative to starting position) via UCX communication. Connect position, orientation, and velocity inputs from upstream nodes.
Installation#
To use this node enable isaacsim.ucx.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Angular Velocity (inputs:angularVelocity) |
|
Angular velocity vector in rad/s (world frame). |
[0.0, 0.0, 0.0] |
Exec In (inputs:execIn) |
|
The input execution port |
None |
Linear Velocity (inputs:linearVelocity) |
|
Linear velocity vector in m/s (world frame). |
[0.0, 0.0, 0.0] |
Orientation (inputs:orientation) |
|
Orientation as a quaternion (IJKR - x,y,z,w). |
[0.0, 0.0, 0.0, 1.0] |
Port (inputs:port) |
|
Port number for UCX communication |
13337 |
Position (inputs:position) |
|
Position vector in meters (world frame). |
[0.0, 0.0, 0.0] |
Tag (inputs:tag) |
|
UCX tag for message identification |
7 |
Timestamp (inputs:timeStamp) |
|
Timestamp in seconds |
0.0 |
Timeout (ms) (inputs:timeoutMs) |
|
Timeout in milliseconds for UCX send requests. If 0, waits indefinitely. |
0 |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
The output execution port |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.ucx.nodes.UCXPublishOdometry |
Version |
1 |
Extension |
isaacsim.ucx.nodes |
Icon |
ogn/icons/isaacsim.ucx.nodes.UCXPublishOdometry.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
UCX Publish Odometry |
Categories |
isaacUcx |
Generated Class Name |
OgnUCXPublishOdometryDatabase |
Python Module |
isaacsim.ucx.nodes |