ROS1 Publish Point Cloud
This node publishes LiDAR scans as a ROS1 PointCloud2 message
Installation
To use this Node, you must enable omni.isaac.ros_bridge in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
|---|---|---|---|
execIn |
|
The input execution port |
|
nodeNamespace |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
frameId |
|
FrameId for ROS1 message |
sim_lidar |
topicName |
|
Name of ROS1 Topic |
point_cloud |
queueSize |
|
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) |
|
ROS1 Timestamp in seconds |
0.0 |
pointCloudData |
|
Buffer of 3d points containing point cloud data |
[] |