Adding Sensors

Camera Sensor

Camera sensor is an integral part of any robotics use case as it is one of primary mechanism used by robots to perceive their world.

Cameras in Omniverse Isaac Sim do their best to emulate real world cameras and their functionality is as similar as possible.

Simulating a camera sensor and exposing the ground truth synthetic data is done in Omniverse Isaac Sim via the omni.syntheticdata extension.

This camera sensor data is consumed by end users in different message formats. Isaac Sim supports three different ways of exposing the sensor data - REB, ROS Bridge and Python numpy arrays. In Omniverse Isaac Sim, we support numerous samples that leverage synthetic data from camera sensor.

Lidar Sensor

Lidar is a remote sensing method that targets an object with a laser and determines ranges by measuring the time taken for the reflected light to return to the receiver.

Simulating a lidar sensor and exposing the ground truth synthetic data is done in Omniverse Isaac Sim via the lidar component in omni.isaac.range_sensor extension.

In Omniverse Isaac Sim, we support numerous samples that leverage synthetic data from lidar sensor.

Ultrasonic Sensor

Ultrasonic sensors is an electronic device that targets an object with ultrasonic sound waves and determines ranges by measuring the time taken for the ultrasonic wave to return to the receiver.

Simulating a ultrasonic sensor and exposing the ground truth synthetic data is done in Omniverse Isaac Sim via the ultrasonic component in omni.isaac.range_sensor extension.

Contact Sensor

Contact sensors measure the surface load applied to a body.

In Omniverse Isaac Sim, we simulate contact sensor by summing all forces applied on a given trigger shperical region intersected with the given body surface via the omni.isaac.contact_sensor extension.

Publishing Data to ROS and Isaac SDK

Isaac Sim offers different ways of publishing the simulated sensor data.

Robot Engine Bridge

Robot Engine Bridge (REB) supports numerous components to interact to Isaac SDK and publish sensor data.

ROS

ROS Bridge supports numerous components to interact to ROS/ROS2 and publish sensor data.