.. _isaacsim_ros2_bridge_ROS2SubscribeJointState_2:

.. _isaacsim_ros2_bridge_ROS2SubscribeJointState:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
.. ================================================================================

:orphan:

.. meta::
    :title: ROS2 Subscribe Joint State
    :keywords: lang-en omnigraph node isaacRos2:subscriber bridge r-o-s2-subscribe-joint-state


ROS2 Subscribe Joint State
==========================

.. <description>

This node subscribes to a joint state command of a robot in a ROS2 JointState message

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.ros2.nodes<ext_isaacsim_ros2_nodes>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Context (*inputs:context*)", "``uint64``", "ROS2 context handle, Default of zero will use the default global context", "0"
    "Exec In (*inputs:execIn*)", "``execution``", "The input execution port", "None"
    "Node Namespace (*inputs:nodeNamespace*)", "``string``", "Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace", ""
    "Qos Profile (*inputs:qosProfile*)", "``string``", "QoS profile config", ""
    "Queue Size (*inputs:queueSize*)", "``uint64``", "The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent. Only honored if 'history' QoS policy was set to 'keep last'. This setting can be overwritten by qosProfile input.", "10"
    "Topic Name (*inputs:topicName*)", "``string``", "Name of ROS2 Topic", "joint_command"


Outputs
-------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Effort Command (*outputs:effortCommand*)", "``double[]``", "Effort commands", "None"
    "Exec Out (*outputs:execOut*)", "``execution``", "Output execution triggers when a new message is received", "None"
    "Joint Names (*outputs:jointNames*)", "``token[]``", "Commanded joint names", "None"
    "Position Command (*outputs:positionCommand*)", "``double[]``", "Position commands", "None"
    "Timestamp (*outputs:timeStamp*)", "``double``", "ROS2 Timestamp in seconds", "0.0"
    "Velocity Command (*outputs:velocityCommand*)", "``double[]``", "Velocity commands", "None"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "Unique ID", "isaacsim.ros2.bridge.ROS2SubscribeJointState"
    "Version", "2"
    "Extension", "isaacsim.ros2.nodes"
    "Icon", "ogn/icons/isaacsim.ros2.bridge.ROS2SubscribeJointState.svg"
    "Has State?", "False"
    "Implementation Language", "C++"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "ROS2 Subscribe Joint State"
    "Categories", "isaacRos2:subscriber"
    "Generated Class Name", "OgnROS2SubscribeJointStateDatabase"
    "Python Module", "isaacsim.ros2.nodes"

