ROS2 Publish Point Cloud

This node publishes LiDAR scans as a ROS2 PointCloud2 message

Installation

To use this Node, you must enable omni.isaac.ros2_bridge in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

context

uint64

ROS2 context handle, Default of zero will use the default global context

0

nodeNamespace

string

Namespace of ROS2 Node, prepends any published/subscribed topic by the node namespace

frameId

string

FrameId for ROS2 message

sim_lidar

topicName

string

Name of ROS2 Topic

point_cloud

queueSize

uint64

The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent

10

Timestamp (timeStamp)

double

ROS2 Timestamp in seconds

0.0

pointCloudData

pointf[3][]

Buffer of 3d points containing point cloud data

[]