I wish to setup a multi robot scenario in Isaac with ROS2. For each robot, I’d like to have a single Omnigraph that holds constants, such as the node namespace and the ROS_DOMAIN_ID. I’d then like to read these variables from other Omnigraphs under the robot, e.g. the TF publisher and sensor publishers. Is there a way to read values from a different Omnigraph?
Is this possible in the Visual Scripting Interface?
Best method I’ve found so far is to create “compound subgraphs”. One can select a bunch of nodes and create a compound subgraph and feed in values to them.
@ajong , are you wanting to create an OmniGraph node which can read values of nodes in another OmniGraph? Not sure I understood it correctly.
Yes, that’s what I was intending in order to read constants. However I found that compound subgraphs make more sense.