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

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?

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

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

1 Like

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

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