isaac-sim-dora

Dora-rs publisher and subscriber adapter for the Isaac Sim Rust SDK. On the Kit side, this crate's cdylib registers bridge consumers that convert every sensor frame to an Apache Arrow RecordBatch and publish it on a dora node output. On the receiver side, subscribe::* convenience decoders turn inbound ArrayRef values back into owned native structs — no direct arrow dependency needed in algorithm nodes.

Usage

[dependencies]
isaac-sim-dora = "0.1"

use dora_node_api::{DoraNode, Event};
use isaac_sim_dora::subscribe;

let (_node, mut events) = DoraNode::init_from_env()?;
while let Some(event) = events.recv() {
    match event {
        Event::Input { id, data, .. } if id.as_str() == "lidar_flatscan" => {
            let scan = subscribe::lidar_flatscan(&data.0)?;
            // scan.depths: Vec<f32>, scan.horizontal_fov: f32, etc.
        }
        Event::Input { id, data, .. } if id.as_str() == "imu" => {
            let imu = subscribe::imu(&data.0)?;
        }
        Event::Stop(_) => break,
        _ => {}
    }
}
# Ok::<(), eyre::Report>(())

Part of the isaac-sim-rs SDK. The facade crate re-exports this as the dora namespace when the dora feature is enabled.

Compatibility

dora-node-api is pre-1.0; major bump in lockstep.

dora-node-api 0.5 is pre-1.0; minor bumps may be breaking. The Arrow major is pinned to match dora's internal requirement.

License notice for re-publishers

MPL-2.0 is per-file copyleft. If you bundle this crate's binary into your own crate or extension, retain the SPDX header on every source file you include. The full license text is in LICENSE at the repo root.

License

MPL-2.0 (see LICENSE).