isaac_ros_nitros_bridge_ros2

Source code on GitHub.

API

Usage

ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge.launch.py rosbag_path:='<Absolute path to your input rosbag>' ros1_ws_path:='<Absolute path to your ros1 workspace>'

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 ROS2 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 ROS2 image

ROS Topics Published

ROS Topic	Interface	Description
ros2_output_image	sensor_msgs/Image	Output ROS2 image converted from NITROS bridge image
ros2_output_bridge_image	isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage	Output NITROS bridge image converted from ROS2 image