..
    This file was auto-generated by the 'repo_extension_docs' tool.
    Run 'repo extension_docs --help' for more details.

..
    [begin reference autogenerated]

.. _ext_isaacsim_ros2_core:

..
    [end reference autogenerated]

..
    [begin title autogenerated]

[isaacsim.ros2.core] ROS 2 Core
###############################

..
    [end title autogenerated]

..
    [begin deprecation autogenerated]
..
    [end deprecation autogenerated]

..
    [begin version autogenerated]

**Version**: :guilabel:`1.9.1`

..
    [end version autogenerated]

..
    [begin description autogenerated]

.. include:: Overview.md
   :parser: myst_parser.sphinx_

..
    [end description autogenerated]

..
    [begin preview autogenerated]
..
    [end preview autogenerated]

..
    [begin enable-extension autogenerated]


Enable Extension
================

The extension can be enabled (if not already) in one of the following ways:

.. tab-set::
    .. tab-item:: Command-line interface
        :sync: tab_cli

        Define the next entry as an application argument from a terminal.

        .. code-block:: bash

            APP_SCRIPT.(sh|bat) --enable isaacsim.ros2.core

    .. tab-item:: Experience/extension configuration
        :sync: tab_toml

        Define the next entry under ``[dependencies]`` in an experience (``.kit``) file or an extension configuration (``extension.toml``) file.

        .. code-block:: ini

            [dependencies]
            "isaacsim.ros2.core" = {}

    .. tab-item:: Extension Manager UI
        :sync: tab_gui

        Open the *Window > Extensions* menu in a running application instance and search for ``isaacsim.ros2.core``.
        Then, toggle the enable control button if it is not already active.


..
    [end enable-extension autogenerated]

..
    [begin toctree autogenerated]
..
    [end toctree autogenerated]

..
    [begin usage autogenerated]
..
    [end usage autogenerated]

..
    [begin api autogenerated]

.. include:: api.rst

..
    [end api autogenerated]

..
    [begin actions autogenerated]
..
    [end actions autogenerated]

..
    [begin ogn autogenerated]
..
    [end ogn autogenerated]

..
    [begin settings autogenerated]

Settings
========

Other Settings
^^^^^^^^^^^^^^

The extension changes some settings of the application or other extensions, which are listed in the table below.

.. list-table::
    :header-rows: 1

    * - Application/extension setting
      - Description
      - Value
    * - ``exts."isaacsim.ros2.bridge".ros_distro``
      - ROS 2 Bridge settings are centralized in the core extension.
        ROS 2 distributions to fall back to if none were sourced.

      - ``'system_default'``
    * - ``exts."isaacsim.ros2.bridge".publish_without_verification``
      - Whether ROS 2 publishers are allowed to publish even if there is no active subscription for their topics.

      - ``False``
    * - ``exts."isaacsim.ros2.bridge".publish_multithreading_disabled``
      - Whether to disable multithreading in the *ROS2PublishImage* OmniGraph node.

      - ``False``
    * - ``exts."isaacsim.ros2.bridge".publish_with_queue_thread``
      - Whether to enable the queue-based publish thread in the *ROS2PublishImage* OmniGraph node.

      - ``True``
    * - ``exts."isaacsim.ros2.bridge".publish_queue_thread_sleep_us``
      - How long the above queue-based publish thread sleeps between publishes in microseconds.

      - ``1000``
    * - ``exts."isaacsim.ros2.bridge".enable_nitros_bridge``
      - Whether to enable image publishing via NITROS.

      - ``False``

..
    [end settings autogenerated]

..
    [begin python-api autogenerated]

.. toctree::
    :maxdepth: 1

    Python API <../config/python_api>

..
    [end python-api autogenerated]
