REB Publish Range Scan

This node publishes range scan messages to Isaac SDK

Installation

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

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

nodeName

string

The name of the SDK node to publish/receive from

interface

timeOffset

double

Time offset in nanoseconds to apply to published messages

0

outputComponent

string

The name of the component on which data is published

outputChannel

string

The name of the channel on which data is published

Timestamp (timeStamp)

double

REB Timestamp in seconds

0.0

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]