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]