Converter Catalog

The built-in converters that Isaac ROS Deploy ships, keyed by the kind string each input/output term carries in its LEAPP bundle. For what a converter is and how the runtime chooses one, refer to Converters. To add a converter for a signal not listed here, refer to How to add custom converters.

ros2_nodes - input converters (message → tensor)

kind	ROS message type	Notes
state/joint/position	sensor_msgs/msg/JointState	reordered by element_names (joint names)
state/joint/velocity	sensor_msgs/msg/JointState
state/body/position	geometry_msgs/msg/PoseStamped	position x, y, z
state/body/rotation	sensor_msgs/msg/Imu (default) or geometry_msgs/msg/PoseStamped	orientation quaternion; select PoseStamped with source_message_type
state/body/angular_velocity	sensor_msgs/msg/Imu
state/body/linear_velocity	nav_msgs/msg/Odometry
state/camera/image	sensor_msgs/msg/Image	rgb8/bgr8 only → [1, H, W, C] float32
command/body/velocity	geometry_msgs/msg/Twist (default) or …/TwistStamped	select via source_message_type
command/body/velocity_height	geometry_msgs/msg/Twist
command/body/rotation	isaac_ros_deploy_interfaces/msg/BodyCommand
command/body/target_position	isaac_ros_deploy_interfaces/msg/BodyCommand
command/body/target_rotation	isaac_ros_deploy_interfaces/msg/BodyCommand
command/joint/position	isaac_ros_deploy_interfaces/msg/JointCommand
command/joint/velocity	isaac_ros_deploy_interfaces/msg/JointCommand

ros2_nodes - output converters (tensor → message)

A 2-D output tensor [1, N] produces a single-step isaac_ros_deploy_interfaces/msg/JointCommand. A 3-D output [1, H, N] produces an …/msg/JointCommandTrajectory of H steps. Several output kinds can target the same message (for example, position + kp + kd written into one JointCommand).

kind	Target message field
joint_pos_targets, target/joint/position, actions	JointCommand.position (or JointCommandTrajectory.position)
joint_vel_targets	JointCommand.velocity
joint_effort_targets, target/joint/effort	JointCommand.effort
stiffness_targets, kp	JointCommand.kp
damping_targets, kd	JointCommand.kd
body_rot_target, body_ang_vel_target	isaac_ros_deploy_interfaces/msg/BodyCommand (2-D only)
velocity_command	geometry_msgs/msg/Twist

ros2_control - state interface converters (interfaces → tensor)

kind	ros2_control state interfaces read
state/joint/position	<joint>/position for each joint in element_names
state/joint/velocity	<joint>/velocity for each joint in element_names
state/body/rotation	imu/orientation.x, .y, .z, .w
state/body/angular_velocity	imu/angular_velocity.x, .y, .z

Any input kind not in this table is treated as a topic input. The controller subscribes to the corresponding ROS topic and uses the matching ros2_nodes message-to-tensor converter (for example, command/body/velocity from /cmd_vel).

ros2_control - command interface converters (tensor → interfaces)

kind	ros2_control command interfaces written
target/joint/position	<prefix>/<joint>/position<suffix>
kp	<prefix>/<joint>/kp<suffix>
kd	<prefix>/<joint>/kd<suffix>

(prefix/suffix come from the controller’s command_prefix / command_suffix parameters, used for controller chaining. Refer to ROS2 Control LEAPP Runtime.)

Feedback and passthrough kinds

Some kind values are not converters:

• last_actions (and other recurrent inputs) are feedback and builder kinds. They are populated by the input builder from a previous output via pipeline.feedback_flow, not by a converter. Do not expect a message or interface for them.

• An input term with no kind falls back to a raw tensor passthrough (it subscribes to a TensorList topic directly).