GXF Publish Differential Control State
This node publishes differential state messages to Isaac SDK
Installation
To use this Node, you must enable omni.isaac.gxf_bridge
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution port |
|
context |
|
GXF context handle, Default of zero will use the default global context |
0 |
outputEntity |
|
The name of the entity used to publish data |
|
outputComponent |
|
The name of the component used to publish data |
|
poseFrame |
|
FrameId for Atlas |
robot |
linearVelocity |
|
Linear velocity vector in m/s |
[0.0, 0.0, 0.0] |
linearAcceleration |
|
Linear acceleration vector in m/s^2 |
[0.0, 0.0, 0.0] |
angularVelocity |
|
Angular velocity vector in rad/s |
[0.0, 0.0, 0.0] |
angularAcceleration |
|
Angular velocity vector in rad/s^2 |
[0.0, 0.0, 0.0] |
robotFront |
|
Vector representing forward direction of robot |
[1.0, 0.0, 0.0] |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
Output execution trigger |