Isaac Compute Odometry Node
Holds values related to odometry, this node is not a replcement for the IMU sensor and the associated Read IMU node
Installation
To use this Node, you must enable omni.isaac.core_nodes
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution port |
|
chassisPrim |
|
Usd prim reference to the articulation root or rigid body prim |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
The output execution port |
|
position |
|
Position vector in meters |
[0.0, 0.0, 0.0] |
orientation |
|
Rotation as a quaternion (IJKR) |
[0.0, 0.0, 0.0, 1.0] |
linearVelocity |
|
Linear velocity vector in m/s |
[0.0, 0.0, 0.0] |
angularVelocity |
|
Angular velocity vector in rad/s |
[0.0, 0.0, 0.0] |
linearAcceleration |
|
Linear acceleration vector in m/s^2 |
[0.0, 0.0, 0.0] |
angularAcceleration |
|
Angular acceleration vector in rad/s^2 |
[0.0, 0.0, 0.0] |