Isaac ROS VO Source
Node ID: isaacVoSource · Role: Source · Realtime config: no
Description
Subscribes to a ROS 2 nav_msgs/Odometry topic - typically ‘/visual_slam/tracking/odometry’ from NVIDIA Isaac ROS Visual SLAM. Emits OdometryData with body-frame twist (the fusion-relevant signal) plus world-frame pose. Feeds visual-odometry updates into the GNSS-IMU fusion filter to bridge GNSS outages and densify velocity observations.
Inputs / Outputs
- Inputs: (none)
- Outputs:
Odometry
Config aliases
IsaacVoSource, isaacVoSource, visualOdometrySource
Properties
Each row shows the setting’s label in the node’s Properties panel and, in code, its key in the node’s settings object in the config file. A setting omitted from the config file uses the default shown here.
| Property | Type | Default | Description |
|---|---|---|---|
Topic topic | string | /visual_slam/tracking/odometry | ROS 2 topic publishing nav_msgs/Odometry. Isaac ROS Visual SLAM default is ‘/visual_slam/tracking/odometry’. |
Bridge Endpoint bridgeEndpoint | string | tcp/[::1]:7447 | Zenoh locator of the zenoh-bridge-ros2dds process. Loopback by default; matches the bundled bridge’s listen socket. |
Auto-spawn Bridge Process autoSpawnBridge | boolean | true | When on, fusionhub spawns the bundled zenoh-bridge-ros2dds process automatically. Turn off if you’re already running it. |
Sender ID senderId | string | isaac_vo | Value written to OdometryData.sender_id on emitted packets. |
QoS History Depth (informational) qosDepth | number | 10 |
Example node definition
A minimal entry in config.json looks like the block below. Paste it under the sources key, keyed by an instance name of your choice. All settings are optional: anything not listed under settings uses the default from the Properties table above. See The configuration file for how the sections and endpoint wiring work.
{
"sources": {
"isaacVoSource": {
"outEndpoint": "inproc://isaacVoSource_data",
"settings": {}
}
}
}