ROS2 Publish Laser Scan

This node publishes LiDAR scans as a ROS2 LaserScan message

Installation

To use this Node, you must enable omni.isaac.ros2_bridge-humble 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	scan
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
horizontalFov	float	Horizontal Field of View in degrees	0
horizontalResolution	float	Degrees in between rays for horizontal 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]