GXF Publish Range Scan

This node publishes range scan messages to Isaac SDK

Installation

To use this Node, you must enable omni.isaac.gxf_bridge in the Extension Manager.

Inputs

Name	Type	Description	Default
execIn	execution	The input execution port
context	uint64	GXF context handle, Default of zero will use the default global context	0
outputEntity	string	The name of the entity used to publish data
outputComponent	string	The name of the component used to publish data
poseFrame	string	FrameId for Atlas	robot
horizontalFov	float	Horizontal Field of View in degrees	0
verticalFov	float	Vertical Field of View in degrees	0
horizontalResolution	float	Degrees in between rays for horizontal axis	0
verticalResolution	float	Degrees in between rays for vertical axis	0
depthRange	float[2]	The min and max range for sensor to detect a hit [min, max]	[0, 0]
rotationRate	float	Rotation rate of sensor in Hz	0
linearDepthData	float[]	Buffer array containing linear depth data	[]
intensitiesData	uchar[]	Buffer array containing intensities data	[]
numRows	int	Number of rows in buffers	0
numCols	int	Number of columns in buffers	0
azimuthRange	float[2]	The azimuth range [min, max]	[0.0, 0.0]
zenithRange	float[2]	The zenith range [min, max]	[0.0, 0.0]

Outputs

Name	Type	Description	Default
execOut	execution	Output execution trigger