Isaac Ros Bridge

Isaac ROS 桥接技能

Isaac Sim ROS2 桥接配置

何时使用

当需要以下帮助时使用此技能：

• ROS2 Isaac 桥接
• Omnigraph 配置
• Graph 脚本
• 传感器数据桥接
• 关节命令桥接

核心实现

ROS2 桥接配置

# isaac_ros_bridge.py
import rospy
from sensor_msgs.msg import Image, Imu, LaserScan
from geometry_msgs.msg import Twist

class IsaacROS_Bridge:
    def __init__(self):
        # 图像订阅/发布
        self.image_sub = rospy.Subscriber('/rgb_camera', Image, self.image_callback)
        self.image_pub = rospy.Publisher('/isaac/image', Image)
        
        # IMU
        self.imu_sub = rospy.Subscriber('/imu', Imu, self.imu_callback)
        
        # 激光雷达
        self.scan_pub = rospy.Publisher('/scan', LaserScan)
        
    def image_callback(self, msg):
        # 处理图像
        self.image_pub.publish(msg)

Omnigraph 节点

# Omnigraph Python API
import omni.graph.core as og

# 创建 Action graph
(ros_clock, _, _, _) = og.Controller.edit(
    "/World/ROS2Clock",
    {
        og.Controller.Keys.CREATE_NODES: [
            ("OnPlaybackTick", "omni.graph.action.OnPlaybackTick"),
            ("ReadSimTime", "omni.isaac.core_nodes.IsaacReadSimulationTime"),
            ("ROS2Context", "omni.isaac.ros2_bridge.ROS2Context"),
            ("ClockPublisher", "omni.isaac.ros2_bridge.ROS2PublishClock"),
        ],
        og.Controller.Keys.CONNECT: [
            ("OnPlaybackTick.outputs:tick", "ReadSimTime.inputs:execIn"),
            ("ReadSimTime.outputs:simulationTime", "ClockPublisher.inputs:time"),
            ("ROS2Context.outputs:context", "ClockPublisher.inputs:context"),
        ],
    },
)