.. _isaacsim_ucx_nodes_UCXPublishOdometry_1:

.. _isaacsim_ucx_nodes_UCXPublishOdometry:

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

.. meta::
    :title: UCX Publish Odometry
    :keywords: lang-en omnigraph node isaacUcx nodes u-c-x-publish-odometry


UCX Publish Odometry
====================

.. <description>

This node publishes odometry data (pose and velocities relative to starting position) via UCX communication. Connect position, orientation, and velocity inputs from upstream nodes.

.. </description>


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

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


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

    "Angular Velocity (*inputs:angularVelocity*)", "``vectord[3]``", "Angular velocity vector in rad/s (world frame).", "[0.0, 0.0, 0.0]"
    "Exec In (*inputs:execIn*)", "``execution``", "The input execution port", "None"
    "Linear Velocity (*inputs:linearVelocity*)", "``vectord[3]``", "Linear velocity vector in m/s (world frame).", "[0.0, 0.0, 0.0]"
    "Orientation (*inputs:orientation*)", "``quatd[4]``", "Orientation as a quaternion (IJKR - x,y,z,w).", "[0.0, 0.0, 0.0, 1.0]"
    "Port (*inputs:port*)", "``uint``", "Port number for UCX communication", "13337"
    "Position (*inputs:position*)", "``vectord[3]``", "Position vector in meters (world frame).", "[0.0, 0.0, 0.0]"
    "Tag (*inputs:tag*)", "``uint64``", "UCX tag for message identification", "7"
    "Timestamp (*inputs:timeStamp*)", "``double``", "Timestamp in seconds", "0.0"
    "Timeout (ms) (*inputs:timeoutMs*)", "``uint``", "Timeout in milliseconds for UCX send requests. If 0, waits indefinitely.", "0"


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

    "Exec Out (*outputs:execOut*)", "``execution``", "The output execution port", "None"


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

    "Unique ID", "isaacsim.ucx.nodes.UCXPublishOdometry"
    "Version", "1"
    "Extension", "isaacsim.ucx.nodes"
    "Icon", "ogn/icons/isaacsim.ucx.nodes.UCXPublishOdometry.svg"
    "Has State?", "False"
    "Implementation Language", "C++"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "UCX Publish Odometry"
    "Categories", "isaacUcx"
    "Generated Class Name", "OgnUCXPublishOdometryDatabase"
    "Python Module", "isaacsim.ucx.nodes"

