Changing ROS Camera Prim Parameters

Omniverse Isaac Sim
,
1

Is there a way to change ROS Camera prim parameters after creation while the simulator is running in Python? Eg start the camera with some resolution, then change it while simulating.

I tried doing ChangeProperty, but it does not seem to have done anything.

Alternatively, could one delete the prim and create a new one with different parameters? What command would do this?

2

If you change the resolution property on the ROS Camera prim you need to call stop and play again to properly resize the image. Would that solve your use case?

3

I don’t think it worked, though I might be doing something wrong:

start_time = time.time()
test = False
while self.kit.app.is_running():
    self.kit.update()
    if time.time() - start_time > 20 and not test:
        omni.kit.commands.execute(
            "ChangeProperty",
            prop_path=self.Sdf.Path("/ROS_Camera.resolution"),
            value=self.Gf.Vec2i(128, 72),
            prev=None)
        self.kit.stop()
        self.kit.play()
        test = True

Is the code I’m using to change resolution after having created the camera with:

omni.kit.commands.execute(
        "ROSBridgeCreateCamera",
        path="/ROS_Camera",
        enabled=True,
        resolution=Gf.Vec2i(1280, 720),
        frame_id="sim_camera",
        camera_info_topic="/camera_info",
        rgb_enabled=True,
        rgb_topic="/rgb",
        depth_enabled=False,
        depth_topic="/depth",
        segmentation_enabled=False,
        semantic_topic="/semantic",
        instance_topic="/instance",
        label_topic="/label",
        bbox2d_enabled=False,
        bbox2d_topic="/bbox_2d",
        bbox3d_enabled=False,
        bbox3d_topic="/bbox_3d",
        queue_size=10,
        camera_prim_rel=["/sim_camera"],
    )

I am getting the following error:

image
image1808×1192 324 KB

4


Apologies for the delay, I’m attaching a modified version of the carter_stereo.py sample here.
I think you are just missing a call to update between stop and play so the renderer has a frame to reset.
carter_stereo_random_res.py (2.9 KB)