omnigraph.py

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import omni
import omni.graph.core as og


def create_front_cam_omnigraph(robot_num):
    """Define the OmniGraph for the Isaac Sim environment."""

    keys = og.Controller.Keys

    graph_path = f"/ROS_" + f"front_cam{robot_num}"
    og.Controller.edit(
        {
            "graph_path": graph_path,
            "evaluator_name": "execution",
            "pipeline_stage": og.GraphPipelineStage.GRAPH_PIPELINE_STAGE_SIMULATION,
        },
        {
            keys.CREATE_NODES: [
                ("OnPlaybackTick", "omni.graph.action.OnPlaybackTick"),
                ("IsaacCreateRenderProduct", "omni.isaac.core_nodes.IsaacCreateRenderProduct"),
                ("ROS2CameraHelper", "omni.isaac.ros2_bridge.ROS2CameraHelper"),
            ],

            keys.SET_VALUES: [
                ("IsaacCreateRenderProduct.inputs:cameraPrim", f"/World/envs/env_{robot_num}/Robot/base/front_cam"),
                ("IsaacCreateRenderProduct.inputs:enabled", True),
                ("ROS2CameraHelper.inputs:type", "rgb"),
                ("ROS2CameraHelper.inputs:topicName", f"robot{robot_num}/front_cam/rgb"),
                ("ROS2CameraHelper.inputs:frameId", f"robot{robot_num}"),
            ],

            keys.CONNECT: [
                ("OnPlaybackTick.outputs:tick", "IsaacCreateRenderProduct.inputs:execIn"),
                ("IsaacCreateRenderProduct.outputs:execOut", "ROS2CameraHelper.inputs:execIn"),
                ("IsaacCreateRenderProduct.outputs:renderProductPath", "ROS2CameraHelper.inputs:renderProductPath"),
            ],

        },
    )