ROS2 RTX Lidar Helper

Handles automation of Lidar Sensor pipeline

Installation

To use this Node, you must enable omni.isaac.ros2_bridge in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

Triggering this causes the sesnor pipeline to be generated

context

uint64

ROS2 context handle, default of zero will use the global context

0

nodeNamespace

string

Namespace of ROS2 Node, prepends and published/subscribed topic by the node namespace

frameId

string

FrameID for the ROS2 message

sim_lidar

topicName

string

Topic name for sensor data

scan

queueSize

uint64

Number of message to queue up before throwing away, in case messages are collected faster than they can be sent

10

renderProductPath

token

Name of the render product path to publish lidar data

type

token

Data to publish from node

laser_scan