How to change the resolution of a viewport output as a ROS topic to a specified size

Omniverse Isaac Sim
1

I would like to change the resolution of the robot camera in the IsaacSim sample “carter_warehouse_apriltags_worker.usd” to 640*480 and output the topic.
However, I can’t find the resolution setting, and even in the Render Resolution section of the CameraSettings, I can only select a fixed value.
What method can I use to change the resolution?

2

You can add ‘Isaac Set Viewport Resolution’ Node to your graph.

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If using Render Product, you can set the height and width as inputs to the node.

3

Thank you very much.
The image topic can now be output at the specified resolution.