Publish contact sensor in ROSBridge

[PARKBONG]

Hi. I want to publish my sensor values (which is created by Create/Isaac/Sensors/Contact Sensor) using RodBridge.

How can I do this?

thanks.

[qwan]

You’ll need to either use standalone python scripting, in which you can retrieve the contact sensor’s data through its python API and arrange them into a sensor_msgs type or a custom message type and send them out that way. (example)

Or, you can write a custom Omnigraph Node (in Python).

if you are writing your custom node, write the two node files (.ogn and .py), and then put them in the same directory where you find other ROS bridge nodes’ .py files. (the directory probably looks something like exts/omni.isaac.ros_bridge/omni/isaac/ros_bridge/ogn/nodes)