I just found the Common Omnigraphs to setup camera publishers and a tf-publisher in two graphs. Per default, the “Isaac Read Simulation Time”-node in the TF-publisher does not ‘Reset on Stop’, so the timestamps are different to those in the camera messages.
Could this default value be changed so that both graphs work with each other better?
Hey @FooTheBar I don’t think we have the plan to change the default value at the moment. But if you would like to change it for your convenience, you can check the implementation of the node and change the default value. It is in file exts/omni.isaac.core_nodes/omni/isaac/ogn/OgnIsaacReadSimulationTimeDatabase.py. Or if you don’t want to mess around with the core nodes, you can create a customized omnigraph node which does similar thing. But note that currently Node Description Editor is not available in Isaac Sim 4.2 or 4.1. Our engineering team is working on an alternative solution for future releases. As a workaround, you might want to do it in an older version of Isaac Sim (4.0 or 2023.1.1). and move it over to newer version of Isaac Sim (if you plan to use Isaac Sim 4.2 or 4.1).