`isaac_ros_nitros_bridge_ros2`#

Source code available on GitHub.

API#

Usage#

ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge_image_converter.launch.py pub_image_name:=output_image sub_image_name:=input_image

ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge_tensor_list_converter.launch.py pub_tensor_list_name:=output_tensor_list sub_tensor_list_name:=input_tensor_list

ROS Parameters#

ROS Parameter	Type	Default	Description
`num_blocks`	`int64_t`	`40`	The number of pre-allocated GPU memory blocks

ROS Topics Subscribed#

ROS Topic	Type	Description
`ros2_input_image`	sensor_msgs/Image	Input ROS 2 image to be converted to NITROS bridge image
`ros2_input_bridge_image`	isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage	Input NITROS bridge image to be converted to ROS 2 image

ROS Topics Published#

ROS Topic	Type	Description
`ros2_output_image`	sensor_msgs/Image	Output ROS 2 image converted from NITROS bridge image
`ros2_output_bridge_image`	isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage	Output NITROS bridge image converted from ROS 2 image