.. _isaacsim_ros2_bridge_ROS2PublishCompressedImage_1:

.. _isaacsim_ros2_bridge_ROS2PublishCompressedImage:

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

:orphan:

.. meta::
    :title: ROS2 Publish Compressed Image
    :keywords: lang-en omnigraph node isaacRos2:publisher bridge r-o-s2-publish-compressed-image


ROS2 Publish Compressed Image
=============================

.. <description>

This node publishes ROS2 CompressedImage messages (H264 encoded).

.. </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

    "Buffer Size (*inputs:bufferSize*)", "``uint64``", "Size (in bytes) of the compressed data buffer", "0"
    "Context (*inputs:context*)", "``uint64``", "ROS2 context handle, Default of zero will use the default global context", "0"
    "Data (*inputs:data*)", "``uchar[]``", "Buffer array containing the compressed image data (e.g., H264 bitstream)", "[]"
    "Data Ptr (*inputs:dataPtr*)", "``uint64``", "Pointer to the compressed data buffer", "0"
    "Exec In (*inputs:execIn*)", "``execution``", "The input execution port.", "None"
    "Frame Id (*inputs:frameId*)", "``string``", "FrameId for ROS2 message", "sim_camera"
    "Input Format (*inputs:input_format*)", "``token``", "Compression format identifier for the ROS2 CompressedImage message", "h264"
    "", "Metadata", "*allowedTokens* = h264", ""
    "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"
    "Time Stamp (*inputs:timeStamp*)", "``double``", "Time in seconds to use when publishing the message", "0.0"
    "Topic Name (*inputs:topicName*)", "``string``", "Name of ROS2 Topic", "image_raw/compressed"


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

    "Unique ID", "isaacsim.ros2.bridge.ROS2PublishCompressedImage"
    "Version", "1"
    "Extension", "isaacsim.ros2.nodes"
    "Icon", "ogn/icons/isaacsim.ros2.bridge.ROS2PublishCompressedImage.svg"
    "Has State?", "False"
    "Implementation Language", "C++"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "ROS2 Publish Compressed Image"
    "Categories", "isaacRos2:publisher"
    "Generated Class Name", "OgnROS2PublishCompressedImageDatabase"
    "Python Module", "isaacsim.ros2.nodes"

