External Extensions: ROS Bridge (add-on)

Omniverse Isaac Sim
,
1

omni.add_on.ros_bridge: ROS Bridge (add-on)

This extension enables publishing additional rostopics using ROS.

GitHub links:

1 Like
2

omni.add_on.ros_bridge-v0.0.2: ROS Bridge (add-on)

This extension allows publishing additional topics and enabling services for agile development of robotic application prototypes in ROS

GitHub links:

Update:

  • Add support for RosAttribute (ROS service to get or set prim attributes)

1 Like
4

Dear community,

The extension has been rewritten to integrate the omni.add_on.ros_control_bridge extension features.
In addition, its source code has been released


[0.1.0] - 2022-04-14

Added

  • Source code (src folder)
  • FollowJointTrajectory action server (merge with omni.add_on.ros_control_bridge)
  • GripperCommand action server (merge with omni.add_on.ros_control_bridge)

Changed

  • Improve the extension implementation

Removed

  • sensor_msgs/CompressedImage topic
5

I have add the extension follow this

7 
narwal@sz-0203062590:~/ros_bag_file/slam_0514$ rosnode info /OmniAddOnRosBridge 
--------------------------------------------------------------------------------
Node [/OmniAddOnRosBridge]
Publications: 
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /OmniAddOnRosBridge/get_loggers
 * /OmniAddOnRosBridge/set_logger_level


contacting node http://sz-0203062590:39465/ ...
Pid: 101519
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (38879 - 10.1.41.40:35094) [345]
    * transport: TCPROS
8

Hi @fzg7919

To enable the services, it is necessary to add a RosAttribute prim to the current stage and play the simulation, as shown in the following image

Screenshot from 2022-05-17 22-04-25
Screenshot from 2022-05-17 22-04-251791×899 322 KB

9

Sorry I don’t have RosAttribute in the ‘Create->Isaac->Ros’ ,
Attributes

and I am sure the extensions are enable .

extensions

10

the Compressed Camera 、Follow Joint Trajectory 、Gripper Command are all normal, only Attributes lost

11

Hi @fzg7919

My mistake, I forgot to create the release with the compressed file for the latest version of the omni.add_on.ros_bridge_ui extension (v0.0.2)

Now, you can find it on GitHub

In addition, you can install the extension using the link (which always pulls the latest version directly) to avoid similar situations in the future :)

git+https://github.com/Toni-SM/omni.add_on.ros_bridge_ui.git?branch=main&dir=exts
13

It is okay now !!! Thanks very much !!!

14

Dear community,

It is time to move to OmniGraph :)

This extension has been migrated to OmniGraph

The entire source is available on https://github.com/Toni-SM/semu.robotics.ros_bridge (Note: The extension was renamed semu.robotics.ros_bridge to distinguish it from the original NVIDIA Omniverse namespaces)

[1.0.0] - 2022-06-15

Changed

  • Switch to OmniGraph

preview1
preview11675×1103 140 KB

1 Like